Home

FlexMotion Software Reference Manual

1. Function Name Description Word Count Uses Vectors Command ID Onboard Programming Functions flex_begin_store Begin Program Storage 3 No 339 flex_end_store End Program Storage 3 No 340 flex_insert_program_label Insert Program Label 4 No 344 flex_jump_label_on_condition Jump to Label on Condition 7 No 390 flex_load_delay Load Program Delay 5 No 359 flex_pause_prog Pause Resume Program 3 No 342 flex_read_program_status Read Program Status 3 Yes 395 flex_read_program_status_rtn flex_run_prog Run Program 3 No 341 flex_set_status_momo Set User Status MOMO 4 No 356 flex_stop_prog Stop Program 3 No 343 flex_wait_on_condition Wait on Condition 8 Yes 388 Object Management Functions flex_load_description Load Memory Object 19 No 366 Description flex_object_mem_manage Object Memory 4 No 389 Management flex_read_description_rtn Read Memory Object 3 No 367 Description flex_read_registry_rtn Read Object Registry 3 No 361 Data Operations Functions flex_add_vars Add Variables 4 Yes 346 flex_and_vars AND Variables 4 Yes 352 flex_div_vars Divide Variables 4 Yes 349 flex_load_var Load Constant to Variable 5 Yes 351 flex_Ishift_var Logical Shift Variable 4 Yes 357 flex_mult_vars Multiply Variables 4 Yes 347 flex_not_var Invert Variable 4 Yes 355 flex_or_vars OR Variables 4 Yes 353 FlexMotion Software Reference Manual B 6 www natinst com Appendix B Table B 1 FlexMotion Function Summary Continued Fle
2. condition Constant condition Value Valid resource NIMC_CONDITION_HOME_FOUND 7 N A NIMC_CONDITION_INDEX_FOUND 8 N A NIMC_CONDITION_HIGH_SPEED_ 9 0 axes or CAPTURE 0x20 encoders NIMC_CONDITION_POSITION_ 10 0 axes or BREAKPOINT 0x20 encoders Reserved 11 N A NIMC_CONDITION_VELOCITY_ 12 N A THRESHOLD NIMC_CONDITION_MOVE_COMPLETE 13 N A NIMC_CONDITION_PROFILE_ 14 N A COMPLETE NIMC_CONDITION_BLEND_ COMPLETE 15 0 axes or 0x10 vector spaces NIMC_CONDITION_MOTOR_OFF 16 N A NIMC_CONDITION_HOME_INPUT 17 N A ACTIVE NIMC_CONDITION_LIMIT_INPUT 18 N A ACTIVE NIMC_CONDITION_SOFTWARE_LIMIT_ 19 N A ACTIVE NIMC_CONDITION_PROGRAM__ 20 program COMPLETE NIMC_CONDITION_IO_PORT_MATCH 21 I O port 1 or 2 Note Conditions 0 through 6 are not applicable to waits and generate an error 12 20 www natinst com Chapter 12 Onboard Programming Functions flex_wait_on_condition mustOn is the bitmap of bits that must be True to satisfy the condition D7 D6 D5 D4 D3 D2 DI DO mustOn 7 mustOn 6 mustOn 5 mustOn 4 mustOn 3 mustOn 2 mustOn 1 mustOn 0 For DO through D7 1 Bit must be True 0 Don t care default mustOff is the bitmap of bits that must be False to satisfy the condition D7 D6 D5 D4 D3 D2 DI DO mustOff 7 mustOff 6 mustOff 5 mustOff 4 mustOff 3 mustOff 2 mustOff 1 mustOff 0 For DO through D7 1 Bit must be False 0
3. Purpose Reads the Move Complete Status register Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer Output Name Type Description moveCompleteStatus ul6 bitmap of Move Complete Status for all axes Parameter Discussion moveCompleteStatus is a bitmap of Move Complete Status for all six axes The bitmap also includes the state of the three User Status bits D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO Sts15 Sts14 Sts13 XXX XXX XXX XXX XXX XXX MC6 MC5 MC 4 MC 3 MC 2 MC 1 XXX D1 through D6 Move Complete MC 1 Move is complete 0 Axis is moving D13 through D15 User Status Sts 1 True 0 False National Instruments Corporation 6 29 FlexMotion Software Reference Manual Chapter 6 Trajectory Control Functions flex_read_mcs_rtn Using This Function 3 The Read Move Complete Status function performs a direct read of the Move Complete Status MCS register on the FlexMotion controller Because a register read is virtually instantaneous and does not effect communication processing or other FlexMotion operations you can call this function repetitively to get the most up to date status for the axes Move Complete Status is configurable individually for each axis with the Configure Move Complete Criteria function The criteria for considering motion to be complet
4. D15 D14 D13 D12 Dil D10 D9 D8 D7 D6 DS D4 D3 D2 D1 DO 0 0 0 0 0 0 0 0 Bit7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 For DO through D7 1 Inverting active low default 0 Noninverting active high Using This Function The Set I O Port Polarity function sets the polarity of the general purpose I O port on an individual bit basis You can set each bit for either inverting or noninverting polarity Inverting polarity means that a logical True or On state corresponds to an active low signal on the pin Conversely noninverting polarity means that a logical True On corresponds to an active high signal on the pin FlexMotion Software Reference Manual 10 30 www natinst com Chapter 10 Analog amp Digital I O Functions flex_set_port_pol Typically ports and their pins are configured for direction and polarity at initialization After configuration you can then read or write logical states True or False On or Off to ports without worrying about the physical states of signals on the port pins On 7344 controllers the polarity also defines the latching behavior for the RTSI port In order to detect short pulses on RTSI lines the hardware latches active going signals and holds that state until the port is read For example if you configure a bit for inverting polarity a transition from high to low will be latched until read even if the signal goes high again If the signal starts low it will also be latched until
5. Parameter Discussion axisMap is the bitmap of inhibit outputs to enable An enabled inhibit follows the motor off killed state of the axis D7 D6 D5 D4 D3 D2 D1 DO 0 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1 0 For D1 through D6 1 Inhibit enabled default 0 Inhibit disabled polarityMap is the bitmap of active polarities for the inhibit outputs D7 D6 DS D4 D3 D2 D1 DO 0 Inhibit 6 Inhibit 5 Inhibit 4 Inhibit 3 Inhibit 2 Inhibit 1 0 For D1 through D6 1 Inverting default 0 Noninverting FlexMotion Software Reference Manual 8 2 www natinst com Chapter 8 Motion 1 0 Functions flex_contfigure_inhibits Using This Function The Configure Inhibit Outputs function enables disables and sets the polarity inverting or noninverting of the axis inhibit outputs When enabled a per axis inhibit output is linked to the motor off state of the corresponding axis A killed axis motor off forces the corresponding inhibit output On When the axis is active the inhibit output is Off Inhibit outputs are typically used to disable the servo amplifier or stepper driver for power savings safety or specific application reasons 3 Note Killing a servo axis also zeros its DAC output With torque block amplifiers this means that the motor freewheels whether or not the amplifier is disabled With velocity block servo amplifiers or stepper drivers the motor does not freewheel unless
6. FlexMotion 6C Clock Value Divide Down Factor Controllers 7344 Controllers 0 28 256 32 256 kHz 40 kHz 1 29 512 16 128 kHz 20 kHz 2 210 1 024 8 064 kHz 10 kHz 3 211 2 048 4 032 kHz 5 kHz 4 2 2 4 096 2 016 kHz 2 5 kHz 5 213 8 192 1 008 kHz 1 25 kHz 6 2 4 16 384 504 Hz 625 Hz 7 28 256 External External Clock 256 Clock 32768 8 2 5 32 768 252 Hz 312 50 Hz 9 216 65 536 126 Hz 156 25 Hz 10 217 131 072 63 Hz 78 13 Hz 11 218 262 144 31 5 Hz 39 06 Hz 12 219 524 288 15 75 Hz 19 53 Hz 13 220 1 048 576 7 87 Hz 9 77 Hz 14 220 2 097 152 3 94 Hz 4 88 Hz 15 215 32 768 External Clock External Clock 32 768 32 768 Using This Function The PWM outputs on your FlexMotion controller are digital pulse train outputs that have a frequency specified by the clock parameter of this function and a duty cycle specified by the Load PWM Duty Cycle function These outputs can be used to control devices that require a PWM input such as a laser whose intensity is controlled by a PWM signal or can be used to generate isolated analog outputs by passing the PWM output through an optocoupler and then filtering the digital pulse train to produce an analog output voltage When you configure a PWM output the clock frequency applies to both PWM outputs If you configure one PWM output for a clock value of 3 and then the second PWM output for a clock value of 4 the value of 4 will apply to both PWM outputs The only exception is wh
7. PIDrate Update Rate 0 62 5 us 1 125 us 2 188 us 3 250 us 4 312 us 3 375 us default National Instruments Corporation 5 13 FlexMotion Software Reference Manual Chapter 5 Axis amp Resource Configuration Functions flex_enable_axes PIDrate Update Rate 6 438 us 7 500 us axisMap is the bitmap of enabled axes D7 D6 DS D4 D3 D2 D1 DO 0 AXIS 6 AXIS 5 AXIS 4 AXIS 3 AXIS 2 AXIS 1 0 D1 through D6 1 Axis enabled 0 Axis disabled default Using This Function The Enable Axes function is used to enable the specific axes required for the application and set the servo and stepper update or sample rate For highest performance the FlexMotion trajectory generators calculate a new instantaneous target position each update Similarly the stepper pulse generators are adjusted each update to accurately control the step frequency Only enabled axes are updated and there is a direct correspondence between the number of enabled axes and the fastest update rate allowed Number of Servo Axes Enabled Fastest Sample Rate PIDrate min 1 62 5 us 0 2 125 us 1 3 188 us 2 4 250 us 3 5 312 us 4 6 375 us 5 The fastest update rate is only achievable when all axes are single feedback servo axes and no extra encoders are enabled Servicing the stepper pulse generators takes extra time that subtracts from the time available fo
8. Parameter Discussion axis is the axis to be read returnVector indicates the desired destination for the return data generated by this function Available return Vectors include return data to the host OxFF return data to a variable 0x01 through 0x78 and don t return data 0 ay Note The suffix _rtn on the function indicates that the data should be returned to the host When this calling convention is used no returnVector is required position is the axis position in quadrature counts for servo axes or steps for stepper axes National Instruments Corporation 6 31 FlexMotion Software Reference Manual Chapter 6 Trajectory Control Functions flex_read_pos and flex_read_pos_rtn Using This Function The Read Position function returns the instantaneous position of the specified axis For servo axes it returns the primary feedback position in counts For open loop stepper axes it returns the number of steps generated For closed loop stepper axes it converts the primary feedback position from counts to steps and then returns the value in steps Closed loop stepper axes require you to correctly load values of steps per revolution and counts per revolution to function correctly B Note For closed loop axes this function always returns the position of the primary feedback resource See the Read Vector Space Position function for an easy way to read up to three axis positions for a vector space in one call
9. DAC 5 DAC 4 DAC 3 DAC 2 DAC 1 XXX Using This Function For D1 through D6 1 DAC output at negative limit 0 DAC output above negative limit The Read DAC Limit Status function returns the positive and negative DAC torque limits Independent DACs that are not mapped to axes do not have torque limits so those DACs will always return zeros A DAC torque limit status is True 1 when the DAC output is saturated at the corresponding limit This information tells you that the motor is operating at its maximum torque probably due to an excessively high value of acceleration or deceleration It can also indicate excessive friction on the axis a completely stalled motor or some other system fault When an axis is active not in the killed motor off state this function returns the instantaneous state of the torque limit circuits If the axis trips out on following error a typical occurrence when operating at the torque limits the DAC limit status is latched so you can tell which limit positive or negative caused the following error trip The status remains latched until the axis is activated again by a Start Motion Stop Motion or Blend Motion function FlexMotion Software Reference Manual 6 96 www natinst com Chapter 6 Trajectory Control Functions flex_read_steps_gen and flex_read_steps_gen_rtn flex_read_steps_gen and flex_read_steps_gen_rtn Read Steps Generated Forma
10. Parameter Discussion object is a program or other memory object stored in onboard RAM or ROM description is an ASCII character array of up to 32 characters that describes the object Using This Function The Read Memory Object Description function returns the ASCII text description for a program or other memory object The ASCII text description previously loaded with the Load Memory Object Description function is useful as a quick reminder of the contents or purpose of a program or other memory object stored in memory FlexMotion Software Reference Manual 12 28 www natinst com Chapter 12 Onboard Programming Functions flex_read_registry_rtn flex_read_registry_rtn Read Object Registry Format status flex_read_registry_rtn boardID index registryRecord Purpose Reads a data record for a memory object from the Object Registry Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer index u8 registry record number Output Name Type Description registry Record REGISTRY FAR data record containing information about the memory object Parameter Discussion index is the registry record number The range for index is 0 to 31 registryRecord is the data record containing object information in the following structure struct ul6 device Object number ul6 type Object type u32 pstart Start address in RAM or ROM
11. direction is the search direction for the find index sequence 0 Search forward 1 Search reverse offset is the target position relative to the found index position The range is 32 768 to 32 767 counts with a default value of zero 0 Using This Function The Find Index function initiates a search sequence to find the index marker signal of the feedback encoder Once found it then adds or subtracts the programmed offset value to the captured index position and moves to the resulting target position The encoder index signal is accurate to one quadrature count and provides a much more repeatable reference than using just a home switch edge The Find Index function is typically called after the find home sequence is complete and before the position is reset with the Reset Position function With this procedure the home switch need only be accurate enough to National Instruments Corporation 9 7 FlexMotion Software Reference Manual Chapter 9 Find Home amp Index Functions flex_find_index repeatably locate the axis within the same encoder revolution or index period Then you can use the Find Index function to find a unique instance of the index 3 Note The Find Index function is only available on axes with incremental encoder feedback The search sequence is performed in the specified direction at a fixed low velocity of 1 4 RPS unless an even lower velocity is loaded with either the Load Velocity or Load Velocity in R
12. 12 32 www natinst com flex_and_vars Chapter 12 Onboard Programming Functions flex_and_vars AND Variables Format status flex_and_vars boardID variable1 variable2 return Vector Purpose Performs a bitwise AND of the values in the two variables and returns the result Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer variablel u8 first operand variable2 u8 second operand returnVector u8 destination for the result Parameter Discussion variablel is the variable holding of the first operand Valid variables are 0x01 through 0x78 variable2 is the variable holding the second operand Valid variables are 0x01 through 0x78 returnVector indicates the desired destination for the result of this function Available return Vectors include return data to the host OxFF return data to a variable 0x01 through 0x78 and don t return data 0 Using This Function The AND Variables function performs a bitwise logical AND of the values in the two variables and returns the result to the destination specified by the returnVector returnVector value variablel value AND variable2 value The result can be returned to a new variable or one of the two input variables returned to the host computer or thrown away In all cases the EQUAL condition code is set True if the result equals zero all bits low and False if any bit is set
13. 129 NIMC_axisDisabledError A disabled axis has been commanded to move Enable the axis before executing a move on it 130 NIMC_memoryRangeError An invalid memory location is being addressed on the controller 131 NIMC_inPositionUpdateError Internal error The axis position could not be read for in position verification 132 NIMC _targetPositionUpdateError Internal error The DSP was too busy to update the target position 133 NIMC_pointRequestMissingError Internal error The internal points request buffer is missing a request 134 NIMC _internalSamplesMissingError Internal error The internal samples buffer is missing samples 136 NIMC_eventTimeoutError A wait operation timed out or a read function timed out 137 NIMC_objectReferenceError An attempt was made to reference a nonexistent program or other memory object 138 NIMC_outOfMemoryError Not enough FLASH ROM space to save this object 139 NIMC _registryFullError Object registry is full 140 NIMC_noMoreProgramPlayerError All program players maximum 10 are in use storing playing programs 141 NIMC_programOverruleError A Start Motion Blend Motion Find Home or Find Index function being executed from an onboard program has been overruled by a Stop Motion function from the host computer The program is left in the PAUSED state Execute the Pause Resume Program function to continue FlexMotion Software Reference Manual A 10 www natinst com Appendix A Error Codes
14. 132 or unsigned u32 All functions in this section operate on 32 bit values and return 32 bit values You must be careful to avoid overflow and underflow conditions For example multiplying two 32 bit variables and returning the result to a 32 bit variable might overflow and wrap around Smaller sized data is right aligned within a 32 bit variable Bitwise logical functions always assume this alignment and return similarly aligned results Many FlexMotion functions can take input data from a general purpose variable by pointing to the variable with the input vector parameter Similarly all read functions can return data to a general purpose variable by using the return vector parameter See Chapter 4 Software Overview for a detailed description of input and return vectors All data operation functions set condition codes less than equal to or greater than zero depending on the result of the operation Your program can test these conditions with the Jump to Label on Condition function Executing a data operations function with a return vector of zero 0 tells the program to set the condition code and then throw the resulting data away In this way you can use all the data operations functions as tests for conditional branching These functions are arranged alphabetically by function name As a quick reference a summary of the entire FlexMotion function API is in Appendix B FlexMotion Functions National Instruments Corporatio
15. Axis Resource D i 101100111 b b q 32 Bit 16 Bit JUL Encoder 0101011101101 11101101100 _ D A i 7 rT d Interface Converter Axis X Z XY Z 101100111 al 4 Y g Axis Resource t 101100111 x L 32 Bit PID 16 Bit FEL Encoder 0101011101101 Servo 11101101100 _ D A Axis Y 7 r d Interface Loop Converter S l 107100711 gt 3D C q J Vector Space a Axis Resource D TEFL 101100111 L l 32 Bit 16 Bit JUL Encoder o101011101101 11101101100 _ D A 7 r Interface Converter Axis Z gt 101100711 gt Figure 4 5 3D Vector Space Resources Vector spaces facilitate 2D and 3D interpolated moves linear circular helical and spherical You can send a vector space to many FlexMotion functions to define vector position vector velocity vector acceleration and so on Vector spaces are started stopped and controlled as if they were a single axis greatly simplifying the control of coordinated vector axes All axes in a vector space will start and stop at the same time completing the vector motion profiles programmed Table 4 7 lists the resource IDs for vector space control Table 4 7 Vector Space Control Resource IDs Resource Name Resource ID Vector Space Control 0x10 Vector Space 1 0x11 Vector Space 2 0x12 Vector Space 3 0x13 Functions that can operate on multiple vector spaces simultaneously for example Start Motion can take the vector space control 0x10 as their resource para
16. D7 D6 D5 D4 D3 D2 D1 DO mustOff 7 mustOff 6 mustOff 5 mustOff 4 mustOff 3 mustOff 2 mustOff 1 mustOff 0 0 0 1 0 0 0 0 1 3 Note PC and PCI FlexMotion controllers have three ports 1 2 and 3 On 7344 controllers you can always write to the RTSI software port but the actual RTSI lines on the physical RTSI port are only affected if the RTSI line has been configured properly by using the Select Signal function By default none of the RTSI lines are configured to output their corresponding bits in the RTSI software port you must configure each RTSI line individually using the Select Signal function rather than the Set I O Port Direction function National Instruments Corporation 10 29 FlexMotion Software Reference Manual Chapter 10 Analog amp Digital I O Functions flex_set_port_pol flex_set_port_pol Set 1 0 Port Polarity Format status flex_set_port_pol boardID port portPolarityMap Purpose Sets the bit polarity in a general purpose I O port Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer port u8 general purpose I O port to be controlled portPolarityMap ul6 bitmap of active polarities Parameter Discussion port is the general purpose I O port 1 2 3 or 4 or RTSI software port 5 to be controlled portPolarityMap is the bitmap of active polarities for the I O port
17. First Move Figure 6 4 Blending with Blend Factor of 1 If the two moves are at the same velocity in the same direction and have matching acceleration and deceleration they will superimpose perfectly without a dip or increase in velocity For a vector move if all of the axes are continuing in the same direction the vector velocity remains constant But if one of the axes changes direction the vector velocity does not remain constant during the transition phase A blend factor of zero 0 causes the pending move to start when the existing move fully completes its profile as shown in Figure 6 5 Velocity A Time 0 Second Move First Move amp Time Figure 6 5 Blending with Blend Factor of 0 National Instruments Corporation 6 77 FlexMotion Software Reference Manual Chapter 6 Trajectory Control Functions flex_load_blend_fact Positive blend factors allow for a dwell at the end of the first move before the automatic start of the pending move as shown in Figure 6 6 The blend factor dwell is programmed in milliseconds The maximum value of the positive blend factor depends upon the PIDrate that you set in the Enable Axes function because the DSP delays the trajectory generators based on PID sample periods The formula used to determine the maximum positive blend factor is as follows s time x 1000 PIDrate where s is the time in sample periods time is the positive blend f
18. Otherwise this parameter is ignored National Instruments Corporation 6 49 FlexMotion Software Reference Manual Chapter 6 Trajectory Control Functions flex_wait_for_blend_complete When waiting for multiple axes axisOrVectorSpace 0 D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO 0 0 0 0 0 0 0 0 0 Axis Axis Axis Axis Axis Axis 0 6 5 4 3 2 1 For D1 through D6 1 Blend must be complete on specified axis 0 Blend can be either complete or not complete on specified axis don t care When waiting for multiple vector spaces axisOrVectorSpace 0x10 D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO For D1 through D3 1 Blend must be complete on specified vector space 0 Blend can be either complete or not complete on specified vector space don t care To wait for blend complete on a single axis or vector space set the axisOrVectorSpace selector to the desired axis or vector space The axisOrVSMap parameter is ignored To wait for blend complete on multiple axes the axisOrVectorSpace selector is set to 0 zero and the axisOrVSMap bitmap defines the axes to wait for They must all be blend complete for the blendComplete output to be true Similarly to wait for blend complete on multiple vector spaces the axisOrVectorSpace selector is set to 0x10 and the axisOrVSMap bitmap defines the vector spaces to wait for timeout is the amount
19. Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer axisOrVectorSpace u8 axis or vector space selector return Vector u8 destination for the return data Output Name Type Description blendStatus ul6 bitmap of blend complete status for all axes or vector spaces Parameter Discussion axisOrVectorSpace is the axis or vector space selector For multi axis status use 0 zero For multi vector space status use 0x10 returnVector indicates the desired destination for the return data generated by this function Available return Vectors include return data to the host OxFF return data to a variable 0x01 through 0x78 and don t return data 0 3 Note The suffix _rtn on the function indicates that the data should be returned to the host When this calling convention is used no returnVector is required FlexMotion Software Reference Manual 6 24 www natinst com Chapter 6 Trajectory Control Functions flex_read_blend_status and flex_read_blend_status_rtn blendStatus is a bitmap of blend complete status for all axes or all vector spaces When reading blend status for axes axisOr VectorSpace 0 D15 D14 D13 D12 Dil D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO XXX XXX XXX XXX XXX XXX XXX XXX XXX Axis Axis Axis Axis Axis Axis XXX D1 through D6 1 Blend complete on axis 0 Blend pending When reading blend status for v
20. Table A 1 Error Codes Summary Continued Error Code Symbolic Name Description 142 NIMC_followingErrorOverruleError A Start Motion Blend Motion Find Home or Find Index function being executed from an onboard program has been overruled due to a following error condition The program is left in the PAUSED state Execute the Pause Resume Program function to continue 144 NIMC _illegalVariableError An illegal general purpose variable is being used 145 NIMC _illegal VectorSpaceError The vector space being used does not have enough axes assigned to it 146 NIMC_noMoreSamplesError There are no samples to read Execute Acquire Trajectory Data before trying to read samples 147 NIMC slaveAxisKilledError Gearing cannot be enabled because the slave axis is in a killed state Issue a halt stop or decel stop with the Stop Motion function on the slave axis to energize it 148 NIMC_ADCDisabledError The ADC is disabled The ADC channel must be enabled to read it 149 NIMC_operationModeError Axes that are a part of a vector space are either in velocity mode or have different operation modes 150 NIMC_followingErrorOnFindHomeError Find Home sequence did not find home successfully because the axis tripped on following error 151 NIMC _invalid VelocityError The vector velocity is not valid The resulting angular velocity is out of range Change the vector velocity for the arc move
21. cece eeceeseceecesecesceseeeeceeeeeeeeseeeeecaeesaecnaesaees 4 19 Communication between the Host Computer and the FlexMotion Controller 4 20 Board ID 03 2 2 Ss kt tn ee I EN ie 4 20 Packets Handshaking and FIFO Buffers 0000 0 eee eeceeeeceseceneeceeeecneeeeneeesees 4 21 Return Data Buffer oo oe e S E a EE r eE eE Era SE 4 21 Errors and Error Handling sesser o EE EE EE IN N ea a irae 4 22 Modal and Non Modal Errors sssssseeesseeeseesesesessessesreresresrsresrerreenreseereseeresrees 4 22 Error Message Stack imrnnoi ean pee e E SS 4 23 Communicate versus Individual Function Entry Points 00 0 4 23 Onboard Program sic vscisavccutecees covebegs es aeeth odhss ocbedassoesuneetebocevtees ceeueey 4 24 Fatal Hardware and Communication Errors ce ceceecseceeeeeerseseeeseeneeeneenaes 4 24 Error Handling Techniques ceeceesceeecssecececencecseceeecesecesaeceeeecsaeeseeeennees 4 24 Chapter 5 Axis amp Resource Configuration Functions flek SCONES ARIS 252 a ese lases hes casee aches EA OE A an danetesvas N EAEE ASE EEEE 5 2 HEX COMMS IMC ceritera se wsie ai i Ea a E E 5 6 flex config step_mOde_pol u ee ee eeceeeesceeeeeeeeseescecaeesaecaeceaesaeceaeeeseseeeeseeeeeeeenes 5 9 flex COMPS Vect SPC ninine R E EAA AEE E R EE Si 5 11 EA DI EE P E E eS 5 13 flex load COUNTS STEPS TEV smsan e pepe ie e ae e e E E keia 5 17 flex load pid parameters ennenen nierit E E TA E i 5 19 flex l
22. followingError is the following error trip point in encoder counts If the following error exceeds this value the axis will be automatically killed The range is 0 to 32 767 with a default of 32 767 counts Loading zero 0 is a special case that disables the following error trip functionality inputVector indicates the source of the data for this function Available inputVectors include immediate OxFF or variable 0x01 through 0x78 Using This Function The Load Following Error function sets the maximum allowable following error Following error is the difference between the instantaneous commanded trajectory position and the feedback position If the absolute value of this difference exceeds the trip point an internal kill stop is issued and the axis is disabled This function is a safety feature used to protect the motion hardware and associated system components from damage when the position error gets excessive due to friction binding or a completely stalled motor It will also protect you in case you load unobtainable values for velocity and or acceleration FlexMotion Software Reference Manual 6 8 www natinst com Chapter 6 Trajectory Control Functions flex_load_follow_err This feature is available on all servo and closed loop stepper axes It has no effect on stepper axes running in open loop mode You can completely disable the following error feature by loading a zero 0 value UN Caution Following error should not be d
23. A database with numerous non shipping example programs for National Instruments programming environments You can use them to complement the example programs that are already included with National Instruments products e Software Library A library with updates and patches to application software links to the latest versions of driver software for National Instruments hardware products and utility routines Worldwide Support National Instruments has offices located around the globe Many branch offices maintain a Web site to provide information on local services You can access these Web sites from www natinst com worldwide If you have trouble connecting to our Web site please contact your local National Instruments office or the source from which you purchased your National Instruments product s to obtain support For telephone support in the United States dial 512 795 8248 For telephone support outside the United States contact your local branch office Australia 03 9879 5166 Austria 0662 45 79 90 0 Belgium 02 757 00 20 Brazil 011 284 5011 Canada Calgary 403 274 9391 Canada Ontario 905 785 0085 Canada Qu bec 514 694 8521 China 0755 3904939 Denmark 45 76 26 00 Finland 09 725 725 11 France 01 48 14 24 24 Germany 089 741 31 30 Greece 30 1 42 96 427 Hong Kong 2645 3186 India 91805275406 Israel 03 6120092 Italy 02 413091 Japan 03 5472 2970 Korea 02 596 7456 Mexico D F 5 280 7625 Mexico Monterr
24. ADC 1 0x22 Enc 2 0x32 DAC 2 0 In this example an ADC channel is used for the primary position feedback kp ki kd while an encoder is used for the secondary velocity feedback This application will typically use velocity feedback Kv from the encoder for stability For information about setting Kv refer the Load Single PID Parameter function FlexMotion Software Reference Manual 5 4 www natinst com Chapter 5 Axis amp Resource Configuration Functions flex_config_axis B Note Stepper axes do not support dual loop feedback and cannot have a secondary feedback resource configured National Instruments Corporation 5 5 FlexMotion Software Reference Manual Chapter 5 Axis amp Resource Configuration Functions flex_config_mc_criteria flex_config_mc_criteria Configure Move Complete Criteria Format status flex_config_mc_criteria boardID axis criteria deadband delay minPulse Purpose Configures the criteria for the Move Complete status to be True Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer axis u8 axis to be configured criteria ul6 conditions that must be met for the MC status to be True deadBand ul6 tolerance area around target position delay u8 settling time delay in ms minPulse u8 minimum time the MC status must stay true in ms Parameter Discussion axis is the axis to be configured criteri
25. Axis 5 position Axis 5 velocity FlexMotion Software Reference Manual 6 102 www natinst com Start amp Stop Motion Functions This chapter contains detailed descriptions of the functions used to start blend and stop motion The functions are arranged alphabetically by function name You can execute all of the FlexMotion start and stop functions on an individual axis simultaneously on multiple axes on a vector space or simultaneously on multiple vector spaces These functions give complete control over the state of the motors in the system and with the addition of the Find Home and Find Index programs are the only FlexMotion functions that can actually initiate motion As a quick reference a summary of the entire FlexMotion function API is in Appendix B FlexMotion Functions National Instruments Corporation 7 1 FlexMotion Software Reference Manual Chapter 7 Start amp Stop Motion Functions flex_blend flex_blend Blend Motion Format status flex_blend boardID axisOrVectorSpace axisOrVSMap Purpose Blends motion on a single axis single vector space multiple axes or multiple vector spaces Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer axisOrVectorSpace u8 axis or vector space selector axisOrVSMap ul6 bitmap of axes or vector spaces to blend Parameter Discussion axisOrVectorSpace can select an axis 1 through 6 v
26. Fatal errors are unlikely but if they occur try to clear them by resetting or power cycling If this procedure does not clear the problem refer to Appendix E Technical Support Resources Error Handling Techniques Be sure to constantly watch for error conditions You should always check the function return status for a non zero error code and react to the error as appropriate These non modal errors are easily handled like any other function error in C C or other programming languages The FlexMotion software includes a utility function Get Error Description which you can use to create error description strings for display Modal error handling is a bit more involved Because these errors are rare but can occur at any time your application should check for modal errors at various intervals This is done by calling the Read Communication Status function and checking the Error Message bit How often to check for modal FlexMotion Software Reference Manual 4 24 www natinst com Chapter 4 Software Overview errors depends upon your application but you can use the following list as a guideline 1 Check for modal errors at the end of each major subroutine or functional block Check for modal errors at the end of an initialization procedure Even better is to also check after each axis initialization You should always check after executing a Find Home or Find Index function to make sure the sequence completed successfully Inclu
27. Steps per Revolution 2 000 Velocity filter time constant 10 samples Run stop threshold 1 count sample Stepper loop mode Open 0 Trajectory Parameters Axis Acceleration Deceleration 6 210 counts sample Vector Acceleration Deceleration 6 210 counts sample Following error 32 767 Target position 0 Axis Velocity 200 counts sample Vector Velocity 200 counts sample Operation mode Absolute position 0 Gear master None 0 Enable gearing All disabled 0 Gear ratio 0 Gear ratio type Absolute 0 Blend factor Blend at decel 1 FlexMotion Software Reference Manual C 2 www natinst com Appendix C Default Parameters Table C 1 Default Parameters Continued Parameter Factory Default Position modulus None 0 S Curve time 1 sample Torque limit positive 32 767 10 V primary and secondary Torque limit negative primary and secondary 32 768 10 V Torque offset primary and secondary Velocity threshold 524 288 000 counts sample Motion I O Parameters Enable inhibits All enabled 0x7E Inhibit polarity Inverting Ox7E Enable home inputs All disabled 0 Enable forward limit inputs All disabled 0 Enable reverse limit inputs All disabled 0 Enable S W limits All disabled 0 Axis n forward S W limit position Axis n reverse S W limit position 230 1 coun
28. The default value for target position is zero 0 UN Caution Any single move is limited to 23 1 counts or steps An error will be generated if you exceed this limit by loading a target position too far from the current axis position inputVector indicates the source of the data for this function Available inputVectors include immediate OxFF or variable 0x01 through 0x78 Using This Function The Load Target Position function loads a target position to the axis specified Target positions can be for single axis moves multi axis coordinated moves or vector space moves Position values indicate the desired end location and direction of motion target position 3 Note See the Load Vector Space Position function for an easy way to load up to three target positions for a vector space in one call FlexMotion Software Reference Manual 6 14 www natinst com Chapter 6 Trajectory Control Functions flex_load_target_pos Target position is double buffered so you can load it on the fly without affecting the move in process and it will take effect on the next Start Motion or Blend Motion function When the target position is loaded it is interpreted as either an absolute target position a relative target position a target position relative to the last captured position or with the effect of a position modulus depending on the mode set with the Set Operation Mode function Once you execute the start or blend the axis or axes will foll
29. ad single pid parameteT nosenie E a E pE ER 5 21 flex Or 13 a AeA E O EE E E E E E EE E E EE 5 28 fl ex set steppet loop mode pcer rena esoe e o aa EO NE Oo enS Sr 5 30 Chapter 6 Trajectory Control Functions flex_check_blend_complete_status ceccessceeseceseecsseeenceceneeeneceececaeceaeeceeeeceeeeaeeenees 6 2 flex_check_move_complete_status sores iin on niei EREA E TRE 6 4 flex load acceleration a oe ese A a ee Riss Li eS 6 6 Hex oad follow ELT veces cos ce ct dee dedtcnsdecgosthesdedvoeeetaes ovccnce Sea deetbeuavatedtnes Sneddon eaendedes dovteateddexs 6 8 flex load tpmiss ns scoee a r ieee a eae 6 10 TEX load T SPS iriiri e e E E E E E ATEO TR ETER 6 12 flex lo dt rget Possen e E EE E E E E E EAG 6 14 fl eg l ad VELOCIY s eae es ree e a E E EA E TEN EE AE Ea E REE 6 16 flex load vs Pos Pennyn a i sees E A E E S a 6 18 flex_read_axis_status and fl x read iaxis Status Tii enn n a a E E r E E E eaten 6 20 flex_read_blend_status and flex read ble d stat s T n E a E ET AE ST i 6 24 National Instruments Corporation vij FlexMotion Software Reference Manual Contents flex_read_follow_err and flex read follow Grr 21th 225 603 se eeseev delete beck ebekcteds a r ad uae teenie tes Wises tae Weed eenenss 6 27 flex redd MCS TI cesses ce coed n seadteceiccseeec deb dota ssdes setacde duds eenei 6 29 flex_read_pos and TEX read POS Pirie a EE T inti ccwtsbincrevyeeotees tune E EREE 6 31 flex_re
30. execute 10 programs five from RAM and five from ROM each 640 functions long The 7344 controller has 64 KB of RAM plus 128 KB of ROM divided into two 64 KB sectors for program and object storage You can run programs from either RAM or ROM but you cannot split programs between the two and you cannot split programs between the two 64 KB ROM sectors With an average command size of 10 bytes a single program can be as large as 6 400 commands As another example the 7344 controller can simultaneously execute 10 programs five from RAM and five from ROM with each program up to 1 280 commands long National Instruments Corporation 12 27 FlexMotion Software Reference Manual Chapter 12 Onboard Programming Functions flex_read_description_rtn flex_read_description_rtn Read Memory Object Description Format status flex_read_description_rtn boardID object description Purpose Reads the ASCII text description for a program or other memory object This ASCII text description was load with the Load Memory Object Description function and is useful for a quick reference or reminder of the contents or function of an array or program stored in memory Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer object u8 program or other memory object Output Name Type Description description i8 ASCII character array describing the object
31. flex_load_blend_fact cece ecceccsesesesssesececeececesececceececeseseeeesesesesesersrssnssseees 6 76 flex lo d POS AMOGUITS nis nnee a vultvas ces ches ae Ee 6 79 Hex load rpm thresh is ineneierr enirn Ear a E a ETE EET 6 80 flex lO sc rve mE ois a n aches dab a a a aee aE 6 82 PLEX l ad torge Mienna aeae aa E Aa iea 6 84 fl x 108d TOQUE offset voi crete esan e aee E T E E Eae 6 87 flex_load_vel_threshold cecececeeeesescscscsccesecscceecececeseseesesessseseseeueesseseveseeess 6 89 flex_load_velocity_override ceeeeesseceeeeeseceececeecesseceaceceeeeeaeeeeeeeaecesaeceees 6 91 flex_read_dac and flex re d AC fieren inene Ee wae en ks EE ERN 6 93 flex_read_dac_limit_status and flex read dac himt st tus Teee een s ea deers 6 95 flex_read_steps_gen and HEX te d steps pen TUM ein aina aecwseevensencebdb ebevsdotoebeneursuvebcntneeuies 6 97 FlexMotion Software Reference Manual viji www natinst com Contents flex_read_target_pos and flex_read_target_POS_TtM iior eee a i Ee E EE S S 6 99 flex_read_trajectory_data and flex_read_trajectory_data_rtn seeseeeseeseesseeseessessessttstessesstesressesseessessree 6 101 Chapter 7 Start amp Stop Motion Functions flex blend kiesi eee 7 2 TEX SURE S EE EE ee E RS 7 5 HEX SLOP AMO ON PAEA Peed TEE EAP A E EET ETTE 7 8 Chapter 8 Motion 1 0 Functions flex configure Nits avecsseseeielanceecciwagecveceeentuesteedegennes suscev
32. need to get started and where to find information on installing your hardware About the FlexMotion Software FlexMotion software provides a comprehensive API you use to control the FlexMotion controllers FlexMotion software combined with the FlexMotion controllers provide functionality and power for integrated motion systems for use in laboratory test and production environments For programming ease FlexMotion software is enhanced by a toolbox of drivers C Function Libraries and Windows dynamic link libraries DLLs that implement the entire FlexMotion API The FlexMotion software package includes Measurement amp Automation Explorer which associates physical bus addresses with board IDs which are used in programs to distinguish between controllers Measurement amp Automation Explorer also verifies that the FlexMotion controller is installed correctly and is communicating with the host computer FlexMotion software also includes a Windows compatible motion application FlexCommander which provides access to the FlexMotion application programming interface API in an easy to use scriptable environment Simply pointing to and clicking on the desired function allows you to interactively set up and control system parameters and all multi axis motion commands For application development the FlexMotion software package includes example programs to help get you up and running quickly A separate FlexMotion virtual instrument
33. stopped Each sample period the position error is added to the accumulation of previous position errors to form an integration sum This integration sum is scaled by dividing by 256 prior to being multiplied by Ki Therefore the formula for calculating the integral contribution in the 16 bit DAC command output is as follows Vout integral 20 V 2 x Ki x LIMIT ntegration Sum 256 where LIMIT shorthand for the effects of the integration limit described in the following sections Sy Note The scaling by 1 256 allows the use of integer values for the integral gain even when only a small amount of integral contribution is required In applications with small static torque loads this value can be left at its default value of zero 0 For systems having high static torque loads this value should be tuned to minimize position error when the axis is stopped Non zero values of Ki while reducing static position error tend to increase position error while accelerating and decelerating This effect can be mitigated through the use of the Integration Limit parameter Too high a value of Ki will often result in servo loop instability For these reasons it is recommended that Ki be left at its default value of zero until the servo system operation is stable and then you can add a small amount of Ki to minimize static position errors 3 Note Ki has no effect when Ilim is equal to zero Integration Limit The integration limit Ilim is
34. together as one 16 bit word u16 Only one variable is required 5 The Read Trajectory Data function returns two values position and velocity per axis The total number of variable required is therefore two times the number of axes selected with the Acquire Trajectory Data function Also the maximum variable number is therefore 0x78 minus two times the number of axes selected with the Acquire Trajectory Data function 6 The Wait on Condition function can return two values condition code and bitmapped status to the variables specified with the return vector FlexMotion Software Reference Manual D 2 www natinst com Technical Support Resources This appendix describes the comprehensive resources available to you in the Technical Support section of the National Instruments Web site and provides technical support telephone numbers for you to use if you have trouble connecting to our Web site or if you do not have internet access NI Web Support To provide you with immediate answers and solutions 24 hours a day 365 days a year National Instruments maintains extensive online technical support resources They are available to you at no cost are updated daily and can be found in the Technical Support section of our Web site at www natinst com support Online Problem Solving and Diagnostic Resources e KnowledgeBase A searchable database containing thousands of frequently asked questions FAQs and their corresponding answers o
35. variable1 variable2 returnVector Purpose Performs a bitwise OR of the values in the two variables and returns the result Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer variable1 u8 first operand variable2 u8 second operand returnVector u8 destination for the result Parameter Discussion variablel is the variable holding of the first operand Valid variables are 0x01 through 0x78 variable2 is the variable holding the second operand Valid variables are 0x01 through 0x78 returnVector indicates the desired destination for the result of this function Available return Vectors include return data to the host OxFF return data to a variable 0x01 through 0x78 and don t return data 0 Using This Function The OR Variables function performs a bitwise logical OR of the values in the two variables and returns the result to the destination specified by the returnVector returnVector value variablel value OR variable2 value The result can be returned to a new variable or one of the two input variables returned to the host computer or thrown away In all cases the EQUAL condition code is set True if the result equals zero all bits low and False if any bit is set The GREATER THAN and LESS THAN codes are also set but can be confusing after logical bitwise operations Example If the values in variablel and variable2 are OxSA5A 1234 and 0x8282 0000 res
36. 12 3 flex_blend function 7 2 to 7 4 flex_check_blend_complete_status function 6 2 to 6 3 flex_check_move_complete_status function 6 4 to 6 5 flex_clear_pu_status function 13 2 to 13 3 flex_communicate function 13 4 to 13 6 flex_config_axis function 5 2 to 5 5 flex_config_gear_master function 6 64 to 6 65 flex_config_mc_criteria function 5 6 to 5 8 flex_config_step_mode_pol function 5 9 to 5 10 flex_config_vect_spc function 5 11 to 5 12 flex_configure_inhibits function 8 2 to 8 3 flex_configure_encoder_filter 10 2 to 10 3 flex_configure_pwm_output function 10 4 to 10 6 flex_div_vars function 12 34 flex_enable_1394_watchdog function 13 7 flex_enable_adcs function 10 7 to 10 8 flex_enable_auto_start function 13 8 flex_enable_axes function 5 13 to 5 16 flex_enable_bp function 8 22 to 8 24 flex_enable_encoders function 10 9 to 10 10 flex_enable_gearing function 6 66 to 6 67 flex_enable_gearing_single_axis 6 68 to 6 69 flex_enable_home_inputs function 8 4 to 8 5 flex_enable_hs_caps function 8 34 to 8 35 flex_enable_limits function 8 6 to 8 8 flex_enable_shutdown function 13 9 to 13 10 National Instruments Corporation l 5 Index flex_end_store function 12 4 flex_find_home function 9 2 to 9 6 flex_find_index function 9 7 to 9 8 flex_flush_rdb function 13 11 flex_get_error_description function 11 2 to 11 5 flex_get_motion_board_info function 11 6 to 11 8 flex_get_motio
37. 4 communication with host computer 4 20 to 4 22 board ID 4 20 packets handshaking and FIFO buffers 4 21 return data buffer 4 21 to 4 22 errors and error handling 4 22 to 4 25 error handling techniques 4 24 to 4 25 fatal hardware and communication errors 4 24 modal and non modal errors 4 22 to 4 24 function types and parameters 4 10 to 4 12 bitmapped versus per resource functions 4 10 input and return vectors 4 11 FlexMotion Software Reference Manual Index onboard variables 4 12 single and double buffered parameters 4 10 to 4 11 general purpose I O ports 4 8 initialization overview 4 12 to 4 14 installing FlexMotion controller 1 2 language support 1 3 motion resources 4 4 to 4 7 ADC channels 4 5 to 4 6 DAC outputs 4 6 to 4 7 encoders 4 4 to 4 5 stepper outputs 4 7 motion trajectories 4 14 to 4 20 trajectory parameters 4 17 to 4 20 trajectory types and modes 4 14 to 4 17 overview 1 1 requirements for getting started 1 2 resource IDs 4 2 software programming choices 1 2 vector spaces 4 8 to 4 10 Windows libraries 2 1 FlexMotion Windows libraries 2 1 to 2 3 creating 32 bit Windows applications 2 2 to 2 3 LabWindows CVI application 2 2 Microsoft or Borland C C application 2 2 to 2 3 Visual Basic application 2 3 overview 2 1 function return status 3 3 function types and parameters 4 10 to 4 12 bitmapped versus per resource functions 4 10 input and return vectors 4 11 onboard
38. 6 43 to 6 44 flex_run_prog function 12 15 flex_save_defaults function 13 15 flex_select_signal function 10 20 to 10 22 flex_set_adc_range 10 23 to 10 24 flex_set_bp_momo function 8 31 to 8 32 flex_set_home_polarity function 8 15 to 8 16 flex_set_hs_cap_pol function 8 41 to 8 42 flex_set_inhibit_momo function 8 17 to 8 18 flex_set_irq_mask function 13 16 to 13 18 flex_set_limit_polarity function 8 19 to 8 20 flex_set_op_mode function 6 45 to 6 48 example 6 48 NIMC_ABSOLUTE_POSITION 6 46 NIMC_MODULUS_POSITION 6 48 NIMC_RELATIVE_POSITION 6 46 to 6 47 NIMC_RELATIVE_TO_CAPTURE 6 47 NIMC_VELOCITY 6 47 parameters and parameter discussion 6 45 flex_set_port_direction function 10 25 to 10 26 flex_set_port_momo function 10 27 to 10 29 flex_set_port_pol function 10 30 to 10 31 flex_set_status_momo function 12 16 to 12 17 National Instruments Corporation l 7 Index flex_set_stepper_loop_mode function 5 30 to 5 31 flex_start function 7 5 to 7 7 flex_stop_motion function 7 8 to 7 11 flex_stop_prog function 12 18 flex_sub_vars function 12 43 flex_wait_for_blend_complete function 6 49 to 6 51 flex_wait_for_move_complete function 6 52 to 6 54 flex_wait_on_condition function 12 19 to 12 23 flex_xor_vars function 12 44 FlexCommander application 1 1 FlexMotion controller installing 1 2 FlexMotion data structures 3 5 to 3 6 FlexMotion software API functional organization 4 1 to 4 2 axes 4 2 to 4
39. 8 36 to 8 37 flex_read_cap_pos_rtn 8 36 to 8 37 flex_read_hs_cap_status 8 38 to 8 40 flex_read_hs_cap_status_rtn 8 38 to 8 40 flex_set_hs_cap_pol 8 41 to 8 42 summary table B 4 to B 5 l initialization 4 12 to 4 14 overview 4 12 recommended procedure 4 13 to 4 14 establishing position reference per axis 4 13 motion I O configuration 4 13 per axis configuration 4 13 system configuration 4 13 trajectory parameter initialization per axis 4 13 input and return vectors functions with more than one data parameter table D 1 to D 2 programming considerations 3 10 purpose and use 4 11 installing FlexMotion controller 1 2 integral gain changing 5 23 integration limit changing 5 23 L LabVIEW software 1 2 LabWindows CVI software creating 32 bit Windows applications 2 2 overview 1 2 linear and circular interpolation 4 16 National Instruments Corporation Index load functions advanced trajectory functions flex_load_base_vel 6 75 flex_load_blend_fact 6 76 to 6 78 flex_load_pos_modulus 6 79 flex_load_rpm_thresh 6 80 to 6 81 flex_load_scurve_time 6 82 to 6 83 flex_load_torque_lim 6 84 to 6 86 flex_load_torque_offset 6 87 to 6 88 flex_load_vel_override 6 91 to 6 92 flex_load_vel_threshold 6 89 to 6 90 analog amp digital I O functions flex_load_dac 10 11 flex_load_pwm_duty 10 12 arcs functions flex_load_circular_arc 6 56 to 6 57 flex_load_helical_arc 6 58 to 6 59 fle
40. Automation Explorer axisOrVectorSpace u8 axis or vector space to be controlled accelerationType ul6 selector for acceleration deceleration or both acceleration u32 acceleration value in counts s or steps s inputVector u8 source of the data for this function Parameter Discussion axisOrVectorSpace is the axis or vector space to be controlled accelerationType is the selector for loading acceleration deceleration or both acceleration and deceleration default accelerationType Constant accelerationType Value NIMC_BOTH 0 default NIMC_ACCELERATION 1 NIMC_DECELERATION 2 acceleration is the acceleration and or deceleration value in counts s servo axes or steps s stepper axes The range for acceleration is 4 000 to 128 000 000 counts or steps s inputVector indicates the source of the data for this function Available inputVectors include immediate OxFF or variable 0x01 through 0x78 FlexMotion Software Reference Manual 6 6 www natinst com Chapter 6 Trajectory Control Functions flex_load_acceleration Using This Function 3 The Load Acceleration Deceleration function specifies the maximum rate of acceleration and or deceleration for individual axes or vector spaces When executed on a vector space the value controls the vector acceleration deceleration along the vector move path You can use this function to load separate limits for acceleration and deceleration or to set them
41. Description charArray i8 character array FlexMotion Software Reference Manual 11 2 www natinst com Chapter 11 Error amp Utility Functions flex_get_error_description Parameter Discussion descriptionType is the selector for the type of description string to return descriptiveType Constant descriptionType Value NIMC_ERROR_ONLY 0 NIMC_FUNCTION_NAME_ONLY 1 NIMC_RESOURCE_NAME_ONLY 2 NIMC_COMBINED_DESCRIPTION 3 errorCode is an error code from a function return status or the error code returned from the Read Error Message function command ID is the command ID of a function resourceID is the resource ID of an axis vector space encoder ADC DAC or other resource sizeOfArray is the number of characters in the description plus one for the NULL string terminator As an input this I O parameter specifies the size of the allocated array If sizeOfArray and or charArray is NULL or zero 0 the required size of the array not including the NULL terminator is returned in the sizeOfArray parameter as an output charArray is an array of ASCII characters containing the error command and or resource description string This function places all or part of the selected string in charArray if sizeOfArray is greater than zero gt 0 Using This Function The Get Error Description function returns the selected description string as an ASCII character array You must allocate space for this array on the ho
42. Don t care default matchType selects the type of match required for the bitmap matchType Constant matchType Value NIMC_MATCH_ALL 0 NIMC_MATCH_ANY 1 NIMC_MATCH_ANY means that a match of any bit logical OR is sufficient to satisfy the condition while NIMC_MATCH_ALL requires a complete pattern match logical AND of all bits timeOut is the wait timeout value in 100 millisecond increments The range is 0 to 65 535 for a maximum timeout of over 100 minutes returnVector indicates the desired destination for the return data generated by this function Available return Vectors include return data to the host OxFF return data to a variable 0x01 through 0x78 and don t return data 0 Using This Function The Wait on Condition function controls the flow of execution in a stored program It suspends program execution and waits until the specified condition is met or the timeout expires When the condition is met program execution is resumed with the next function after the Wait on Condition National Instruments Corporation 12 21 FlexMotion Software Reference Manual Chapter 12 Onboard Programming Functions flex_wait_on_condition If the timeout expires before the condition is met an error is generated and the program goes into the paused state For information about resuming a paused program see the Pause Resume Program function If you set a timeout of zero the condition must already be true or a
43. Edge Srch Final 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 DO Final approach direction Forward 0 D1 Initial search direction Forward 0 and D2 Home edge to stop on Reverse 1 National Instruments Corporation 9 5 FlexMotion Software Reference Manual Chapter 9 Find Home amp Index Functions flex_find_home As shown in Figure 9 2 this Find Home sequence searches for the home switch in the forward direction 1 When the home switch is found the reverse edge 2 is located When the reverse edge is located this edge is approached in the forward direction 3 Edge Forward el Reverse Edge Final Location Search i Direction Home Switch Active Region Forward Figure 9 2 Find Home Sequence Example FlexMotion Software Reference Manual 9 6 www natinst com Chapter 9 Find Home amp Index Functions flex_find_index flex_find_index Find Index Format status flex_find_index boardID axis direction offset Purpose Executes a search sequence to find and stop on the encoder index mark plus or minus an optional programmable offset Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer axis u8 axis to be controlled direction ul6 search direction offset i16 offset position relative to the found index position Parameter Discussion axis is the axis to be controlled
44. Example 1 To blend motion on axis 4 only call the Blend Motion function with the following parameters axisOrVectorSpace 4 axisOrVSMap Don t care Example 2 To blend motion on vector spaces 2 and 3 call the Blend Motion function with the following parameters axisOr VectorSpace 0x10 axisOrVSMap 0xC The axisOrVSMap value of 0x0C corresponds to the following bitmap D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO 0 0 0 0 0 0 0 0 0 0 0 0 VS 3 VS 2 VS1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 FlexMotion Software Reference Manual 7 4 www natinst com Chapter 7 Start amp Stop Motion Functions flex_start flex_start Start Motion Format status flex_start boardID axisOrVectorSpace axisOr VSMap Purpose Starts motion on a single axis single vector space multiple axes or multiple vector spaces Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer axisOrVectorSpace u8 axis or vector space selector axisOr VSMap ul6 bitmap of axes or vector spaces to start Parameter Discussion axisOrVectorSpace can select an axis 1 through 6 vector space 0x11 through 0x13 multiple axes 0 or multiple vector spaces 0x10 When simultaneously starting multiple axes or vector spaces the axisOrVSMap parameter indicates which axes or vector spaces are involved axisOr VSMap is the bitm
45. For functions 32 bit that require unsigned compilers integers use the signed integer type instead See the i116 description 132 32 bit signed 2 147 483 648 to Long Long for example LongInt integer 2 147 483 647 count amp u32 32 bit unsigned 0 to 4 294 967 295 Unsigned Not supported by Cardinal in integer long BASIC Forfunctions 32 bit operating that require unsigned systems Refer to long integers use the the i32 signed long integer description type instead See the 132 description 32 32 bit 3 402823 x 1038 to Float Single for Single single precision 3 402823 x 1038 example num floating point 64 64 bit 1 797683134862315 x 10308 Double Double for Double double precision to 1 797683134862315 x 10308 example voltage floating point Number Arrays When a primary type is inside square brackets such as i16 an array of the type named is required for that parameter Typically arrays are passed by reference not value For information about passing and returning arrays of data refer to the Language Specific Considerations section of this chapter FlexMotion Software Reference Manual 3 2 www natinst com Chapter 3 Programming Language Considerations Structures and Other User Defined Data Types FlexMotion software uses data structures to send and receive groups of parameters to and from the controller Typically data structures are passed by reference not value For information about passin
46. Load Single PID Parameter load_fol_err flex_load_follow_err Load Following Error load_intg_gain flex_load_single_pid_parameter Load Single PID Parameter load_intg_lim flex_load_single_pid_parameter Load Single PID Parameter load_pos_brk flex_load_pos_bp Load Breakpoint Position load_pos_ref load_pos_scale load_prop_gain flex_load_single_pid_parameter Load Single PID Parameter load_rot_counts flex_load_pos_modulus Load Position Modulus load_rpm flex_load_rpm Load Velocity in RPM load_rpsps flex_load_rpsps Load Accel Decel in RPS sec load_steps_lines flex_load_counts_steps_rev Load Counts Steps per Revolution load_target_pos flex_load_target_pos Load Target Position load_time_brk FlexMotion Software Reference Manual www natinst com Table B 2 Appendix B ValueMotion to FlexMotion Cross Reference Continued ValueMotion Function Name FlexMotion Function Name Descriptive Name load_vel flex_load_velocity Load Velocity load_vel_change flex_load_velocity_override Load Velocity Override master_slave_cfg flex_config_gear_master Configure Gear Master multi_start flex_start Start Motion read_adc flex_read_adc flex_read_adc_rtn Read ADC read_axis_stat read_axis_stat_rdb flex_read_axis_status flex_read_axis_status_rtn Read per Axis St
47. Move Complete Criteria functions FlexMotion Software Reference Manual 6 54 www natinst com Chapter 6 Trajectory Control Functions Arcs Functions Arcs Functions This subsection contains detailed descriptions of functions that load parameters for circularly interpolated moves It includes 2D circular arcs 3D helical arcs and even full 3D spherical arcs functions Circular interpolation is an advanced feature of FlexMotion and is primarily used in continuous path applications such as machining pattern cutting liquid dispensing robotics and so on For maximum smoothness and accuracy the FlexMotion s DSP implements arcs through a cubic spline algorithm Arc functions are always sent to a vector space Velocity and acceleration parameters loaded by executing those functions on the vector space are used as the vector velocity and vector acceleration for all subsequent arc moves All arc parameters are double buffered and take effect upon the next Start Motion or Blend Motion function execution 3 Note Arc radius determines the practical range for vector acceleration and velocity Unrealizable vector values generate an error and the start or blend does not execute You can blend arc moves into linearly interpolated moves and vice versa You can also load all axes in the vector space with the same blend factor using the Load Blend Factor function Arc moves are defined relative to their starting position and as such are inher
48. MustOff bitmap turns the bit Off A zero 0 in either bitmap has no effect so leaving both the MustOn and MustOff bits at zero is effectively a hold and the state of the bit is unchanged If you set both the MustOn and MustOff bits to one 1 it is interpreted as a MustOn condition and the bit is turned On nye Note This function sets the logical state of a bit On or Off True or False The polarity of the bits in the port determines whether an On state is active high or active low Refer to the Set I O Port Polarity function for more information The Set I O Port MOMO function allows individual control of general purpose output bits without requiring a shadow value or a read of the port to remember the state of other bits not being set or reset with the function Example In I O port 2 to set bits 1 and 3 On bits 0 and 5 Off and to leave the other bits 2 4 6 and 7 unchanged call this function with the following parameters port 2 mustOn 0x0A where the value 0x0A corresponds to the following bitmap D7 D6 DS D4 D3 D2 D1 DO mustOn 7 mustOn 6 mustOn 5 mustOn 4 mustOn 3 mustOn 2 mustOn 1 mustOn 0 0 0 0 0 1 0 1 0 FlexMotion Software Reference Manual 10 28 www natinst com Chapter 10 Analog amp Digital I O Functions flex_set_port_momo mustOff 0x21 where the value 0x21 corresponds to the following bitmap
49. National Instruments Corporation A 11 FlexMotion Software Reference Manual Appendix A Error Codes Table A 1 Error Codes Summary Continued Error Code Symbolic Name Description 152 NIMC_invalidAccelerationError The vector acceleration is not valid The resulting angular acceleration is out of range Change the vector acceleration for the arc move 153 NIMC_samplesBufferFullError Internal error The internal samples buffer is full 154 155 157 NIMC _illegal VectorError NIMC_QSPIFailedError NIMC _pointsBufferFullError The input or return vector being used is invalid Internal error The internal QSPI serial bus failed and ADC values cannot be read Internal error The internal point request buffer is full 158 NIMC_ axisInitializationError Internal Error The internal axis data structures failed to initialize Reset the controller and try again If the problem persists contact National Instruments technical support 159 NIMC_encoderInitializationError Internal Error The internal encoder data structures failed to initialize Reset the controller and try again If the problem persists contact National Instruments technical support 160 NIMC_stepChannellnitializationError Internal Error The internal stepper output data structures failed to initialize Reset the controller and try again If the problem persists contact National Instruments te
50. Number of Maximum Function Name Vector Type Parameters Variables Required Variable Number Load Torque Limit Input 4 4 0x75 Load Torque Offset Input 2 2 0x77 Read DAC Limit Status Return 2 1 note 4 0x78 Read Trajectory Data Return 2 per axis 2 note 5 note 5 Load Software Limit Positions Input 2 2 Ox77 Read Limit Status Return 2 1 note 4 0x78 Wait on Condition Return 2 2 note 6 0x77 Notes 1 RPM and RPSPS are double precision floating point values f64 They are internally represented in IEEE floating point format in four 16 bit words This format is also used in the communications packet between the host computer and the FlexMotion controller While the three Arc functions take double precision floating point values f64 for their angle parameters these values are converted to 32 bit values i32 and u32 in the FlexMotion DLL before being sent to the controller Therefore unlike other FlexMotion functions taking floating point values the internal representation for each angle parameter requires only one variable 3 The Load Circular Arc and Load Spherical Arc functions are implemented identically on the FlexMotion controller The FlexMotion DLL simply substitutes zeros for plane pitch and yaw when you call the Load Circular Arc function When using variables and vectors use the Load Spherical Arc function exclusively 4 The Read Limit Status and Read DAC Limit Status functions return the forward and reverse status bytes u8 packed
51. O port to be controlled mustOn ul6 bitmap of I O port bits to be forced on mustOff ul6 bitmap of I O port bits to be forced off Parameter Discussion port is the general purpose I O port 1 2 3 or 4 or RTSI software port 5 to be controlled mustOn is the bitmap of I O port bits to be forced on D7 D6 D5 D4 D3 D2 DI DO mustOn 7 mustOn 6 mustOn 5 mustOn 4 mustOn 3 mustOn 2 mustOn 1 mustOn 0 For DO through D7 1 T O bit forced to logical On 0 I O bit left unchanged default National Instruments Corporation 10 27 FlexMotion Software Reference Manual Chapter 10 D7 Analog amp Digital I O Functions flex_set_port_momo mustOff is the bitmap of I O port bits to be forced off D6 DS D4 D3 D2 D1 DO mustOff 7 mustOff 6 mustOff 5 mustOff 4 mustOff 3 mustOff 2 mustOff 1 mustOff 0 For DO through D7 1 T O bit forced to logical Off 0 I O bit left unchanged default Using This Function The Set I O Port MOMO function sets the logical state of bits in the general purpose I O port selected Using the MustOn MustOff protocol allows you to set or reset individual bits without affecting other output bits in the port This gives you tri state control over each bit On Off or Unchanged A one 1 in a bit location of the MustOn bitmap turns the bit On while a one 1 in the corresponding location of the
52. Read Blend Status function National Instruments Corporation 6 51 FlexMotion Software Reference Manual Chapter 6 Trajectory Control Functions flex_wait_for_move_complete flex_wait_for_move_complete Wait for Move Complete Format status flex_wait_for_move_complete_status boardID axisOrVectorSpace axisOrVSMap u32 timeout i32 pollInterval moveComplete Purpose Waits up to the specified period of time for a move to be completed on an axis vector space group of axes or group of vector spaces Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer axisOrVectorSpace u8 axis or vector space selector axisOrVSMap ul6 bitmap of axes or vector spaces to check timeout u32 timeout in milliseconds pollInterval 132 polling interval in milliseconds Output Name Type Description moveComplete ul6 the move complete status Parameter Discussion axisOrVectorSpace can select an axis 1 through 6 vector space 0x11 through 0x13 multiple axes 0 or multiple vector spaces 0x10 When simultaneously waiting for a move to complete on multiple axes or vector spaces the axisOr VSMap parameter indicates which axes or vector spaces to wait for axisOrVSMap is the bitmap of axes or vector spaces to wait for It is only required when multiple axes or vector spaces are selected with the axisOrVectorSpace parameter Otherwise this parame
53. Read Blend Status function yourself this function does that for you by comparing the axes or vector spaces specified in the axisOrVectorSpace and axisOrVSMap input parameters with the blend complete status for the appropriate axes or vector spaces The output is a single true false value indicating whether or not the specified blend or blends are complete National Instruments Corporation 6 3 FlexMotion Software Reference Manual Chapter 6 Trajectory Control Functions flex_check_move_complete_status flex_check_move_complete_status Check Move Complete Status Format status flex_check_move_complete_status boardID axisOrVectorSpace axisOr VSMap moveComplete Purpose Checks the move complete status for an axis vector space group of axes or group of vector spaces Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer axisOrVectorSpace u8 axis or vector space selector axisOrVSMap ul6 bitmap of axes or vector spaces to check Output Name Type Description moveComplete ul6 the move complete status Parameter Discussion axisOrVectorSpace can select an axis 1 through 6 vector space 0x11 through 0x13 multiple axes 0 or multiple vector spaces 0x10 When simultaneously checking multiple axes 0 or vector spaces 0x10 the axisOrVSMap parameter indicates which axes or vector spaces to check axisOrVSMap is the bitmap of axes or vec
54. This lockout ensures that you are aware of the occurrence of an unexpected reset as in the case of a watchdog timeout You can include this function once at the beginning of an initialization routine but should not be included in other routines to avoid the possibility of restarting an application unexpectedly after a power cycle or watchdog timeout When the FlexMotion controller is in the Power Up state the Move Complete Status MCS register contains a power up code that describes why the controller is in the Power Up state To access this code execute the Read Move Complete Status function The following table describes the power up codes Code Reset Type Cause 0x80 Bus reset Normal PC power cycle 0x40 Power Up reset Normal PC power cycle 0x20 Watchdog timeout Fatal internal error FlexMotion Software Reference Manual 13 2 www natinst com Chapter 13 Advanced Functions flex_clear_pu_status Code Reset Type Cause 0x08 Shutdown Shutdown input active refer to the Enable Shutdown function 0x02 Software reset Firmware download National Instruments Corporation 13 3 FlexMotion Software Reference Manual Chapter 13 Advanced Functions flex_communicate flex_communicate Communicate Format status flex_communicate boardID mode wordCount resource command data vector Purpose Sends and receives command packets to from the
55. a motor or any similar device bit one binary digit either 0 or 1 A memory address that serves as the starting address for programmable registers All other addresses are located by adding to the base address a number system with a base of 2 temporary storage for acquired or generated data software The group of conductors that interconnect individual circuitry in a computer Typically a bus is the expansion vehicle to which I O or other devices are connected Examples of PC buses are the ISA and PCI bus Eight related bits of data an 8 bit binary number Also used to denote the amount of memory required to store one byte of data counter clockwise implies direction of rotation of the motor A broadly applied term relating to any system where output is measured and compared to input The output is then adjusted to reach the desired condition In motion control this term applies to a system using an encoder or any feedback device FlexMotion Software Reference Manual G 2 www natinst com commutation control system bandwidth CPU CW D DC deceleration dedicated DGND digital I O port DIP DLL drivers National Instruments Corporation G 3 Glossary The sequential control of switched waveforms from the power driver amplifier into the motor phase windings that will cause rotation or linear motion depending on motor type Brush type motors auto commutate due to the brush contact with the motor windin
56. and try again If the problem persists contact National Instruments technical support 54 NIMC_corrupt68331FirmwareError Corrupt onboard microprocessor firmware detected Download new firmware 55 NIMC_corruptDSPFirmwareError Corrupt DSP firmware detected Download new DSP firmware 56 NIMC_corruptFPGAFirmwareError Corrupt FPGA firmware detected Download new FPGA firmware 57 NIMC _interruptConfigurationError Internal Error Host interrupt configuration failed and interrupt support is disabled 58 NIMC _JOInitializationError Internal Error The I O structure on the controller failed to initialize Reset the controller and try again If the problem persists contact National Instruments technical support 59 NIMC_flashromCopyError Error copying to the FLASH ROM 60 NIMC_corruptObjectSectorError The objects stored in FLASH ROM are corrupt 73 NIMC_boardInShutDownStateError The controller cannot accept this function as it has been shut down FlexMotion Software Reference Manual A 6 www natinst com Appendix A Error Codes Table A 1 Error Codes Summary Continued Error Code Symbolic Name Description 74 NIMC_shutDownFailedError The controller failed to shut down This could be because it failed to disable the DACs the encoders or the ADCs or because it could not reset the I O back to user defaults 75 NIMC_hostFI
57. become complete pollInterval is the amount of time in milliseconds to wait between successive queries to the controller to determine if the move is complete moveComplete indicates whether or not the move is complete on the axes or vector spaces specified 1 Move complete 0 Move not complete National Instruments Corporation 6 53 FlexMotion Software Reference Manual Chapter 6 Trajectory Control Functions flex_wait_for_move_complete Using This Function This utility function is built on top of the Check Move Complete Status and Read Trajectory Status functions and is provided for your programming convenience This function compares the axes or vector spaces specified in the axisOrVectorSpace and axisOrVSMap input parameters with the move complete status for the appropriate axes or vector spaces It does this repetitively with the pollInterval time determining the frequency that the controller is queried As soon as the move is complete the function returns NIMC_noError and the moveComplete parameter is set to true 1 This function will wait for the amount of time specified by the timeout parameter and if the move is still not complete the function returns NIMC_eventTimeoutError and moveComplete is set to false 0 The output is a single true false value indicating whether or not the specified move or moves are complete For more information on move complete status refer to the Read Trajectory Status and Configure
58. both to the same value with one call These parameters are double buffered so you can load them on the fly without affecting the move in process and they will take effect on the next Start Motion or Blend Motion function Once loaded these parameters remain in effect for all subsequent motion profiles until re loaded by this function You do not need to load acceleration before each move unless you want to change it Acceleration defines how quickly the axis or axes come up to speed and is typically limited to avoid excessive stress on the motor mechanical system and or load A separate slower deceleration is useful in applications where gently coming to a stop is paramount Note You can also load acceleration and deceleration in motor rotations s by calling the Load Accel Decel in RPS sec function National Instruments Corporation 6 7 FlexMotion Software Reference Manual Chapter 6 Trajectory Control Functions flex_load_follow_err flex_load_ follow_err Load Following Error Format status flex_load_follow_err boardID axis followingError inputVector Purpose Loads the following error trip point Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer axis u8 axis to be controlled followingError ul6 following error trip point in counts inputVector u8 source of the data for this function Parameter Discussion axis is the axis to be controlled
59. can load some trajectory parameters as either floating point or fixed point values The internal representation on the FlexMotion controller is always fixed point however This fact is important when working with onboard variables input and return vectors It also has a small effect on parameter range and resolution as shown in the following examples The second factor is the time base Velocity and acceleration values are loaded in counts s RPM RPS s steps s and so on all functions of seconds or minutes But the trajectory generators update target position at the Trajectory Update Rate which is programmable with the Enable Axes function This means that the range for these parameters depends on the update rate selected as shown in the following examples National Instruments Corporation 4 17 FlexMotion Software Reference Manual Chapter 4 Software Overview Velocity in RPM Velocity values in RPM are converted to an internal 16 16 fixed point format in units of counts steps per sample period update period before being used by the trajectory generator FlexMotion can control velocity to 1 65 536 of a count or step per sample You can calculate this minimum velocity increment in RPM with the following formula RPM Vmin x 1 Ts x 60 x 1 R where Vmin 1 65 536 count sample or step sample Ts sample period in seconds per sample 60 number of seconds in a minute and R counts or steps per revolution For a ty
60. control resource IDs table 4 9 return data buffer in host FlexMotion board communication 4 21 to 4 22 return status for functions 3 3 return vectors See input and return vectors S setup functions See configuration functions shutdown function flex_enable_shutdown 13 9 to 13 10 signal selection function flex_select_signal 10 20 to 10 22 single and double buffered parameters 4 10 to 4 11 software programming choices 1 2 See also programming language considerations software related resources E 2 FlexMotion Software Reference Manual l 14 start amp stop motion functions 7 1 to 7 11 flex_blend 7 1 to 7 11 flex_start 7 1 to 7 11 flex_stop_motion 7 8 to 7 11 summary table B 4 stepper outputs purpose and use 4 7 resource IDs table 4 7 structures 3 3 3 5 to 3 6 system configuration in initialization 4 13 T technical support resources E 1 to E 2 trajectory control functions 6 1 to 6 102 advanced trajectory functions 6 72 to 6 102 flex_acquire_trajectory_data 6 73 to 6 74 flex_load_base_vel 6 75 flex_load_blend_fact 6 76 to 6 78 flex_load_pos_modulus 6 79 flex_load_rpm_thresh 6 80 to 6 81 flex_load_scurve_time 6 82 to 6 83 flex_load_torque_lim 6 84 to 6 86 flex_load_torque_offset 6 87 to 6 88 flex_load_vel_override 6 91 to 6 92 flex_load_vel_threshold 6 89 to 6 90 flex_read_dac 6 93 to 6 94 flex_read_dac_limit_status 6 95 to 6 96 flex_read_dac_limit_status_rtn
61. counts Parameter Discussion axisOrVectorSpace is the axis or vector space to be read return Vector indicates the desired destination for the return data generated by this function Available return Vectors include return data to the host OxFF return data to a variable 0x01 through 0x78 and don t return data 0 3 Note The suffix _rtn on the function indicates that the data should be returned to the host When this calling convention is used no returnVector is required followingError is the instantaneous difference between the commanded trajectory position and the actual feedback position in counts National Instruments Corporation 6 27 FlexMotion Software Reference Manual Chapter 6 Trajectory Control Functions flex_read_follow_err and flex_read_follow_err_rtn Using This Function The Read Following Error function returns the instantaneous following error for the axis or vector space specified For vector spaces following error is the root mean square of the following errors for the individual axes that make up the vector space 3 Note Following error limit cannot be set for a vector space you must set a following error limit for each axis individually FlexMotion Software Reference Manual 6 28 www natinst com Chapter 6 Trajectory Control Functions flex_read_mcs_rtn flex_read_mecs_rtn Read Move Complete Status Format status flex_read_mcs_status_rtn boardID moveCompleteStatus
62. data generated by this function Available return Vectors include return data to the host OxFF and return data to a variable 0x01 through 0x78 3 Note The suffix _rtn on the function indicates that the data should be returned to the host When this calling convention is used no returnVector is required National Instruments Corporation 12 13 FlexMotion Software Reference Manual Chapter 12 Onboard Programming Functions flex_read_program_status programStatus is the status of the specified program Possible values are as follows Value Definition 0 NIMC_PROGRAM_DONE 1 NIMC_PROGRAM_PLAYING 2 NIMC_PROGRAM_PAUSED 3 NIMC_PROGRAM_STORING Using This Function This function can be used to determine the state of an onboard program FlexMotion Software Reference Manual 12 14 www natinst com Chapter 12 Onboard Programming Functions flex_run_prog flex_run_prog Run Program Format status flex_run_prog boardID program Purpose Runs a previously stored program Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer program u8 program number Parameter Discussion program is the program number Valid program numbers are 0x01 through OxFF 0 through 255 Using This Function The Run Program function initiates execution of the functions stored in the selected program You can run programs out of either RAM or ROM Y
63. determines the resting states of outputs when they are not pulsing The Configure Step Mode amp Polarity function is typically called for each stepper axis prior to using the axis for position control Once the mode and polarity are set they remain in effect until changed You can execute this function at any time FlexMotion Software Reference Manual 5 10 www natinst com Chapter 5 Axis amp Resource Configuration Functions flex_config_vect_spc flex_config_vect_spc Configure Vector Space Format status flex_config_vect_spc boardID vectorSpace xaxis yaxis zaxis Purpose Defines the axes that are associated with a vector space Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer vectorSpace u8 vector space to be configured xaxis u8 physical axis to act as the logical x axis yaxis u8 physical axis to act as the logical y axis zaxis u8 physical axis to act as the logical z axis Parameter Discussion vectorSpace is the vector space to be configured Valid vector space numbers are 0x11 default 0x12 and 0x13 xaxis is the physical axis 1 through 6 to act as the logical x axis The default is 0 none yaxis is the physical axis 1 through 6 to act as the logical y axis The default is 0 none zaxis is the physical axis 1 through 6 to act as the logical z axis The default is 0 none Using This Function The Configure Vecto
64. don t return data 0 ay Note The suffix _rtn on the function indicates that the data should be returned to the host When this calling convention is used no returnVector is required National Instruments Corporation 10 17 FlexMotion Software Reference Manual Chapter 10 Analog amp Digital I O Functions flex_read_port and flex_read_port_rtn portData is the bitmap of the logical state of the I O port D15 D14 D13 D12 Dil D10 D9 D8 D7 D6 DS D4 D3 D2 D1 DO XXX XXX XXX XXX XXX XXX XXX XXX Bit7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 For DO through D7 1 I O bit True On 0 I O bit False Off Using This Function The Read I O Port function reads the logical state of the bits in the general purpose I O port selected You can execute this function at anytime to monitor the signals connected to an input port Reads of ports configured as outputs return the last value written to the port with the Set I O Port MOMO function 3 Note This function reads the logical state On or Off True or False of the bits in a port The polarity of the bits in the port determines whether an On state is active high or active low Refer to the Set I O Port Polarity function for more information PC and PCI FlexMotion controllers have three ports 1 2 and 3 When reading the RTSI port on 7344 controllers the value read is the latched data so you can detect active pulses on the R
65. effects of any sampled data system the instantaneous measured velocity is averaged by a single pole low pass filter before being returned The time constant for this filter is programmable with the Configure Velocity Filter function For vector spaces this function returns vector velocity the root mean square of the filtered velocities of the individual axes that make up the vector space 3 Note You can also read velocity in RPM by calling the Read Velocity in RPM function FlexMotion Software Reference Manual 6 40 www natinst com Chapter 6 Trajectory Control Functions flex_read_vs_pos and flex_read_vs_pos_rtn flex_read_vs_pos and flex_read_vs_pos_rtn Read Vector Space Position Format status flex_read_vs_pos boardID vectorSpace return Vector status flex_read_vs_pos_rtn boardID vectorSpace xPosition yPosition zPosition Purpose Reads the position of all axes in a vector space Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer vectorSpace u8 vector space to be read returnVector u8 destination for the return data Output Name Type Description xPosition 132 x axis position in counts or steps yPosition 132 y axis position in counts or steps zPosition 132 z axis position in counts or steps Parameter Discussion vectorSpace is the vector space to be read returnVector indicates the desired destination for the return d
66. either sent to the controller received from the RDB or both vector is either an inputVector or a returnVector inputVector indicates the source of the data for this function Available input Vectors include immediate OxFF or variable 0x01 through 0x78 returnVector indicates the desired destination for the return data generated by this function Available return Vectors include return data to the host OxFF return data to a variable 0x01 through 0x78 and don t return data 0 Using This Function The Communicate function provides a single entry point API for all FlexMotion commands You can use Communicate to load parameters read values configure axes start motion and so on You can access all FlexMotion features with either the Communicate function or with the individual API functions Communicate provides an alternate approach to motion control programming that is useful in some programming environments You can specify any FlexMotion function with Communicate by suppling the appropriate command ID resource and word count Refer to National Instruments Corporation 13 5 FlexMotion Software Reference Manual Chapter 13 3 FlexMotion Advanced Functions flex_communicate Appendix B FlexMotion Functions for a table of command IDs and word counts for each function Note Communicate in NIMC_SEND_AND_READ mode is functionally equivalent to the _rtn calling convention for individual read functions The data i
67. enable_brk flex_enable_bp Enable Breakpoint enable_io_trig flex_wait_on_condition Wait on Condition enable_limits flex_enable_limits Enable Limits flex_enable_home_inputs Enable Home Inputs National Instruments Corporation B 7 FlexMotion Software Reference Manual Appendix B FlexMotion Functions Table B 2 ValueMotion to FlexMotion Cross Reference Continued ValueMotion Function Name FlexMotion Function Name Descriptive Name enable_pos_trig flex_jump_label_on_condition Jump to Label on Condition end_prestore flex_end_store End Program Storage find_home flex_find_home Find Home find_index find_index_rdb flex_find_index Find Index flush_rdb flex_flush_rdb Flush Return Data Buffer get_board_type flex_get_motion_board_info Get Motion Board Information get_motion_board_info get_motion_board_name flex_get_motion_board_info flex_get_motion_board_name Get Motion Board Information Get Motion Board Name in_pos flex_config_mc_criteria Configure Move Complete Criteria kill_motion flex_stop_motion Stop Motion load_accel flex_load_acceleration Load Acceleration Deceleration load_accel_fact load_break_mod flex_load_bp_modulus Load Breakpoint Modulus load_deriv_gain load_deriv_per flex_load_single_pid_parameter flex_load_single_pid_parameter Load Single PID Parameter
68. for an axis or vector space Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer axisOrVectorSpace u8 axis or vector space to be controlled operationMode ul6 mode of operation Parameter Discussion axisOrVectorSpace is the axis or vector space to be controlled operationMode selects the type of position or velocity mode for an axis or vector space operationMode Constant operationMode Value NIMC_ABSOLUTE_POSITION 0 NIMC_RELATIVE_POSITION 1 NIMC_VELOCITY NIMC_RELATIVE_TO_CAPTURE Bl wl N NIMC_MODULUS_POSITION These modes are described in the following section Using This Function The Set Operation Mode function is used both during initialization and during normal motion control operation to configure the mode of operation for all trajectory commands to the axis or vector space specified National Instruments Corporation 6 45 FlexMotion Software Reference Manual Chapter 6 Trajectory Control Functions flex_set_op_mode When sent to a vector space the operation mode is broadcast to all axes in the vector space to change the per axis modes If you later want to operate an axis independently in a different mode you must execute the Set Operation Mode function again for that axis Note All axes in a vector space must have the same operation mode If the operation modes are different on each axis when a Start Motion or Blen
69. general purpose digital I O organized into four 8 bit ports A fifth RTSI software port is provided as a way to read from and write to the RTSI bus on 7344 controllers These I O ports are also hardware resources but because they are never mapped to axes they are not considered motion resources You can use the general purpose I O port structure for programmable logic controller PLC functions or for simple point I O For information about how to configure the direction and polarity of the I O ports and bits set and reset individual bits and read the logical port status refer to Chapter 10 Analog amp Digital I O Functions Table 4 6 lists the resource IDs for I O ports Table 4 6 1 0 Port Resource IDs Resource Name Resource ID T O Port 1 1 0x01 T O Port 2 2 0x02 T O Port 3 3 0x03 T O Port 4 4 0x04 7344 only T O Port 5 5 0x05 7344 only Vector spaces are logical multidimensional groups of axes They can be either one dimensional two dimensional with x and y axes or three dimensional with x y and z axes FlexMotion supports up to three vector spaces being defined at the same time FlexMotion Software Reference Manual 4 8 www natinst com Chapter 4 Software Overview
70. ies ise csc ee eeaeee ne Aa S E ES E Series 4 8 Table 4 7 Vector Space Control Resource IDS sseeseesesseeeeeseerserserrrsreeesrrereerese 4 9 Table 10 1 PWM Clock Frequency Settings esssseeseseeeesseeesesreresessrsrssrrrrsreerrrrees 10 5 Table A 1 Error Codes Summary s scsccsisiscasessctiss ooh cseches eg hscvess op caves thous iE rees A 2 Table B 1 FlexMotion Function Summary 20 0 0 eeceeeeeceseeeeeeseeceecsseesecsseesees B 1 Table B 2 ValueMotion to FlexMotion Cross Reference ccccceeeeeeesereeeeeeees B 7 Table C 1 Default Parameters vocece cccceces ces cebevesseinsdcdiscuadedeccsceececcotecubeesuntevdedeavscecdees C 1 Table D 1 Functions with More than One Data Parameter cccceeeeeesesereeees D 1 National Instruments Corporation xiii FlexMotion Software Reference Manual About This Manual The FlexMotion Software Reference Manual describes the FlexMotion software The FlexMotion software is a powerful application programming interface API between your motion control application and the National Instruments FlexMotion controllers for ISA and PCI bus computers Conventions Used in This Manual 3 A AX 7344 controllers bold italic monospace FlexMotion 6C controllers FlexMotion software reference National Instruments Corporation XV The following conventions are used in this manual This icon denotes a note which alerts you to important information T
71. include immediate OXFF or variable 0x01 through 0x78 ays Note The conversion from floating point to fixed point is performed on the host computer not on the FlexMotion controller To load arc functions from onboard variables you must use the 16 16 fixed point representation for all angles Using This Function The Load Helical Arc function defines an arc in 3D vector space that consist of a circle in the xy plane and synchronized linear travel in the z axis The arc is specified by a radius starting angle travel angle and z axis linear travel and like all vector space moves uses the loaded value of vector acceleration and vector velocity to define the motion along the helical path of the arc Figure 6 2 defines a helical arc TN 1 Helical Arc 4 Starting Position 6 Linear Travel 2 Travel Angle 5 Radius 7 Ending Position 3 Start Angle Figure 6 2 Helical Arc Definitions Like circular arcs helical arcs are not limited to 360 Moves of up to 4 096 helical twists in either direction can be started with one call to this function National Instruments Corporation 6 59 FlexMotion Software Reference Manual Chapter 6 Trajectory Control Functions flex_load_spherical_arc flex_load_spherical_arc Load Spherical Arc Format status flex_load_spherical_arc boardID vectorSpace radius planePitch planeYaw startAngle travelAngle input Vector Purpos
72. inhibit outputs being used as general purpose I O You can directly set the inhibit outputs to a logical On or Off state l Note This function has no effect on enabled inhibit outputs These outputs are directly controlled by their corresponding axes Using the MustOn MustOff protocol allows you to set or reset individual inhibit outputs without affecting the other inhibit outputs This gives you tri state control over each output On Off or Unchanged A one 1 in a bit location of the MustOn bitmap turns the inhibit On while a one 1 in the corresponding location of the MustOff bitmap turns the inhibit Off A zero 0 in either bitmap has no affect so leaving both the MustOn and MustOff bits at zero is effectively a hold and the state of the inhibit output is unchanged If you set both the MustOn and MustOff bits to one 1 it is interpreted as a MustOn condition and the inhibit is turned On lyi Note This function sets the logical state of an inhibit output On or Off True or False The polarity of the inhibit outputs determine whether an On state is active high or active low Refer to the Configure Inhibit Outputs function for more information The Set Inhibit MOMO function allows individual control of the inhibit outputs without requiring a shadow value to remember the state of other outputs not being set or reset with the function Example To turn inhibit output 1 On output 6 off and leave inhibit outputs 2 through 5 unchan
73. initialization and trajectory parameters are set to their default values FlexMotion ships with a set of factory defaults that are adequate for initial motion control development You can change and save new power up defaults with the Save Default Parameters function Table C 1 lists all of the parameters that have defaults Parameters not listed are typically reset to zero 0 Velocity override is always reset to 100 At power up reset all axes are blend complete profile complete and move complete all are motor off killed but are not tripped on the following error In addition the user status bits in the Move Complete Status register are all reset Table C 1 Default Parameters Parameter Factory Default Axis amp Resource Configuration Parameters Axis n primary feedback Encoder n Axis n secondary feedback None 0 Axis n primary output DAC n Axis n secondary output None 0 Move complete criteria PC only 1 Move complete deadband 1 Move complete delay 0 Move complete min pulse 0 Stepper mode and polarity Inverting Step and Dir 5 National Instruments Corporation C 1 FlexMotion Software Reference Manual Default Parameters Table C 1 Default Parameters Continued Parameter Factory Default Vector space n No axes 0 Enable axes All disabled 0 Counts per Revolution 2 000 Kp 100 Ki 0 Ilim 1 000 Kd 1 000 Td 2 Kv Aff Vff 0
74. line NIMC_TRIGGER_INPUT 8 Trigger input for the corresponding axis FlexMotion Software Reference Manual 10 20 www natinst com Chapter 10 Analog amp Digital I O Functions flex_select_signal For a destination value of NIMC_RTSI 0 6 Value 0 6 or NIMC_PXI_STAR_TRIGGER Value 7 the valid source values are as follows source Value Comments NIMC_BREAKPOINTT 1 4 9 12 Breakpoint outputs NIMC_RTSI_SOFTWARE_PORT 13 Corresponding bit in RTSI software port NIMC_DONT_DRIVE 14 Sets RTSI pin back to input state Using This Function When the destination is NIMC_RTSI 0 6 or NIMC_PXI_STAR_TRIGGER the motion controller drives the RTSI line as an output When the destination is NIMC_HS_CAPTURE 1 4 the RTSI line serves as an input for the high speed capture circuitry The RTSI lines can always be read using the Read I O Port function regardless of the way they are currently configured Examples Example 1 To use the signal coming in on RTSI pin 3 to trigger the high speed capture on encoder axis 1 call Select Signal as follows flex_select_signal boardID NIMC_HS_CAPTURE1 NIMC_RTS13 The polarity of the high speed capture input is specified by the Set High Speed Capture Polarity function Example 2 To output the breakpoint signal for axis 2 on RTSI pin 4 call Select Signal as follows flex_select_signal boardID NIMC_RTSI4 NIMC_BREAKPOINT2 The signal seen on the RTSI 4
75. loaded these parameters remain in effect for all subsequent motion profiles until re loaded by this function You do not need to load acceleration before each move unless you want to change it Acceleration defines how quickly the axis or axes come up to speed and is typically limited to avoid excessive stress on the motor mechanical system and or load A separate slower deceleration is useful in applications where gently coming to a stop is paramount 3 Note You can also load acceleration and deceleration in counts s or steps s by calling the Load Acceleration Deceleration function National Instruments Corporation 6 13 FlexMotion Software Reference Manual Chapter 6 Trajectory Control Functions flex_load_target_pos flex_load_target_pos Load Target Position Format status flex_load_target_pos boardID axis targetPosition inputVector Purpose Loads the target position for the next axis move Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer axis u8 axis to be controlled targetPosition 132 target position in counts or steps inputVector u8 source of the data for this function Parameter Discussion axis is the axis to be controlled targetPosition is the desired target position for the next axis move in counts servo axes or steps stepper axes Target positions can be anywhere within the 32 bit position range 23 to 23 1
76. loaded target positions are interpreted with respect to the current position at the time the value is loaded A relative position move uses the preprogrammed values of acceleration deceleration s curve and velocity to complete a trajectory profile with an ending position equal to the sum of the loaded relative target position and the starting position If a relative move is started while motion is in progress the new target position is calculated with respect to the target position of the move already in progress considered to be the new starting position as if that move had already completed successfully Motion continues to the FlexMotion Software Reference Manual 6 46 www natinst com Chapter 6 Trajectory Control Functions flex_set_op_mode new relative position independent of the actual position location when the new move is started In relative mode the new target position is calculated and double buffered when you execute either the Load Target Position or Load Vector Space Position function You must reload the relative target position each time before executing a Start Motion or Blend Motion function NIMC_VELOCITY In velocity mode the axis moves at the loaded velocity until you execute a Stop Motion function a limit is encountered or a new velocity is loaded and you execute a Start Motion function Load target positions have no effect in velocity mode The direction of motion is determined by the sign of the loaded veloc
77. loopMode ul6 open or closed loop mode of the stepper axis Parameter Discussion axis is the axis to be controlled loopMode sets the open or closed loop mode for the stepper axis 0 open loop default 1 closed loop Using This Function You can operate stepper axes in both open and closed loop modes In open loop mode the stepper axis controls the trajectory profile and generates steps but has no feedback from the motor or actuator to determine if the profile is followed correctly In closed loop mode the feedback position is constantly compared to the number of steps generated to see if the stepper motor is moving correctly When the trajectory profile is complete missing steps if any are made up with a pull in move If at any time during the move the difference between the instantaneous commanded position and the feedback position exceeds the programmed following error threshold the axis is killed and motion stops FlexMotion Software Reference Manual 5 30 www natinst com Chapter 5 Axis amp Resource Configuration Functions flex_set_stepper_loop_mode AN Warning For proper closed loop operation the correct values for steps rev and counts rev must be loaded with the Load Counts Steps per Revolution function Incorrect counts to steps ratio can result in failure to reach the desired target position and erroneous closed loop stepper operation To operate in closed loop mode a stepper axis must have a prima
78. master axis contained within a vector space definition 3 Note Axes cannot belong to two vector spaces at the same time To move an axis from one vector space to another you must de map the axis from the first vector space and then map it to the second vector space Example Vector space 2 0x12 is configured with axis 3 as the x axis axis 1 as the y axis and axis 2 as the z axis The resulting 3D vector space is shown in Figure 5 1 Z axis axis 2 A Y axis axis 1 X axis axis 3 Figure 5 1 3 D Vector Space Example FlexMotion Software Reference Manual 5 12 www natinst com Chapter 5 Axis amp Resource Configuration Functions flex_enable_axes flex _enable_axes Enable Axes Format status flex_enable_axes boardID reserved PIDrate axisMap Purpose Enables the operating axes and defines the PID and trajectory update rate Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer reserved u8 unused input PIDrate u8 PID update rate axisMap u8 bitmap of axes to enable Parameter Discussion reserved is an unused input The input value is ignored PIDrate is the PID control loop and trajectory generator update rate For stepper axes this parameter also determines how often the step generator is updated The range for this parameter is 0 to 7 with a default of 3 Update Rate PIDrate 1 x 62 5 us
79. non zero value is an error code you can use to diagnose the error condition FlexMotion can also generate modal errors during operation that are not detected at the time of function execution These model errors are returned by the Read Error Message function as additional error codes Table A 1 lists all FlexMotion error codes and gives a brief description of the associated error conditions For reference the table also lists a symbolic constant corresponding to each numeric error code These constants are defined in the FlexMotion header files motnerr h for C C users and motnerr bas for Visual Basic users Refer to Chapter 11 Error amp Utility Functions for detailed descriptions of the functions for error handling Chapter 4 Software Overview gives information on modal versus non modal errors and on error handling techniques National Instruments Corporation A 1 FlexMotion Software Reference Manual Appendix A Error Codes Table A 1 Error Codes Summary Error Code Symbolic Name Description NIMC_noError No error NIMC_readyToReceiveTimeoutError Ready to Receive Timeout The controller is still not ready to receive commands after the specified timeout period This error may occur if the controller is busy processing previous commands If this error persists even when the controller should not be busy contact National Instruments NIMC_currentPacketError Either this function is not s
80. or lead of an input signal to the output signal in a closed loop servo controller Used to determine closed loop system stability at a given crossover frequency proportional integral derivative control loop Flexible adjustment of the Proportional Integral and Derivative Gain Parameters along with loop update rate or frequency to assure stable operation and desired dynamic response of a closed loop servo system 1 a communications connection on a computer or a remote controller 2 a digital port consisting of four or eight lines of digital input and or output Position breakpoint for an encoder can be set in absolute or relative quadrature counts When the encoder reaches a position breakpoint the associated high speed breakpoint output immediately transitions Typically determined by the smallest increment of motion that can be controlled In Stepper Motor systems it is determined by the number of steps per revolution typically as a limitation of the stepper driver microstepping value or of the feedback device resolution In Servo Motor systems it is entirely determined by the resolution of the feedback device in counts per revolution of the motor Implies turning the host computer off and then back on This resets the motion controller www natinst com profile pull in move PWM Q quadrature counts R RAM relative breakpoint relative mode relative position ribbon cable ROM rotary axis RPM RPS
81. pin will be a high pulse of 120 to 150 ns duration The action specified in the Enable Breakpoint function only applies to the breakpoint output pin on the motion I O connector not to RTSI pins Example 3 To drive RTSI pin 5 with the corresponding bit bit 5 of the RTSI software port call Select Signal as follows flex_select_signal boardID NIMC_RTSI5 NIMC_SOFTWARE_PORT To set the state of the RTSI software port use the Set I O Port MOMO function National Instruments Corporation 10 21 FlexMotion Software Reference Manual Chapter 10 Analog amp Digital I O Functions flex_select_signal Example 4 When writing to the RTSI software port by using the Set I O Port MOMO function only those RTSI lines that have been configured to be controlled by the RTSI software port will be affected To set the RTSI line back to an input call Select Signal as follows flex_select_signal boardID NIMC_RTSI5 NIMC_DONT_DRIVE FlexMotion Software Reference Manual 10 22 www natinst com flex_set_adc_range Chapter 10 Analog amp Digital I O Functions flex_set_adc_range Set ADC Range Format status flex_set_adc_range boardID ADC range Purpose Sets the voltage range for the analog to digital converters on a per channel basis Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer ADC u8 ADC channel to configure range ul6 the voltage range for the sp
82. state save For proper and safe operation after power up certain parameters are always reset to their factory defaults to bring the controller back to a known safe state Refer to Table C 1 Default Parameters of Appendix C Default Parameters for a comprehensive list of all parameters stored by the Save Default Parameters function Parameters not stored are left out by design and are typically reset to zero at power up B Note Ifyou want to remember a parameter that is not included in this list you can copy that parameter to a general purpose variable and it will be saved with this function You can then reset the parameter to your saved value with a program designed for this purpose National Instruments Corporation 13 15 FlexMotion Software Reference Manual Chapter 13 Advanced Functions flex_set_irq_mask flex_set_irq_mask Set Interrupt Event Mask Format status flex_set_irq_mask boardID mask Purpose Selects the events that interrupt the host Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer mask ul6 bitmap of events to interrupt on Parameter Discussion mask is the interrupt event mask the bitmap of events to interrupt on For DO Error Message Pending Err 1 Interrupt when Error Message pending 0 Do not interrupt D1 is reserved For D2 Move Complete MC 1 Inter
83. table B 6 to B 7 data returned by reference C C for Windows 3 4 to 3 5 Visual Basic for Windows 3 7 data returned in arrays C C for Windows 3 5 Visual Basic for Windows 3 7 to 3 8 data structures 3 3 3 5 to 3 6 data types 3 1 to 3 3 arrays 3 2 primary types table 3 2 structures and other user defined data types 3 3 FlexMotion Software Reference Manual Index default management functions flex_reset_defaults 13 14 flex_save_defaults 13 15 default parameters table C 1 to C 4 analog amp digital I O parameters C 4 axis amp resource configuration parameters C 1 to C 2 motion I O parameters C 3 to C 4 trajectory parameters C 2 to C 3 derivative gain changing 5 24 derivative sample period changing 5 24 to 5 25 developing applications See FlexMotion Windows libraries programming language considerations diagnostic resources online E 1 digital I O functions See analog amp digital I O functions documentation conventions used in manual xv related documentation xvi double buffered parameters 4 10 to 4 11 E electronic gearing 4 16 See also gearing functions enabling functions flex_enable_1394_watchdog 13 7 flex_enable_adcs function 10 7 to 10 8 flex_enable_auto_start 13 8 flex_enable_axes function 5 13 to 5 16 flex_enable_bp function 8 22 to 8 24 flex_enable_encoders function 10 9 to 10 10 flex_enable_gearing function 6 66 to 6 67 flex_enable_gearing_single_axis 6 68 to
84. teeta acc ec Be OE BIS 12 40 flex_read_var and fleX read Vaart eeeeeecceccccccccesssssesssceecccccescesssseersecceseseesseeesssessensesees 12 41 Hex SUD VAIS oe esses ose icewbesi epee ate heatel cx E eves veka O EEES 12 43 FIEX KOLA VALS E EEE A cs eek eR EA REBAR 12 44 Chapter 13 Advanced Functions PLEX CIEAT pustas ente niian Goebvavi iiS KETE EE ES 13 2 FIEX COM Cate ocean ees sb ON 13 4 HEX Enable 1394WatChdGs vei iersinii na ii e 13 7 flex enable alito Starts in a a ano Be EE Ai 13 8 flex enable sh td WH Saaie a e a e a a E tee R S 13 9 TeX AUS TAD a n EES 13 11 Hex TE AGMCSE TEM oc cad bctiecd ocd cs devestesevee dovdes e d eetan eeo E SEa EE eE EAEE 13 12 flex reset defa a ses es ee ves 13 14 jl ob A A 10 A NEEE E A E A E E 13 15 flex setir maskan n OEE EEE AEE R E E ae aes 13 16 Appendix A Error Codes National Instruments Corporation xi FlexMotion Software Reference Manual Contents Appendix B FlexMotion Functions Appendix C Default Parameters Appendix D Onboard Variables Input and Return Vectors Appendix E Technical Support Resources Glossary Index Figures Figure 4 1 SELVOAKIS RESOULCES 1 sscescsisessseessinnseoemsesdueesebaeeteeeneeeeien Figure 4 2 Stepper Axis Resources le eee eeeeecseesseceeeeseceeeseees Figure 4 3 ADC Input Resources 00 0 eee eeeeeeeeeeeeeeeeeeeneeenes Figure 4 4 DAC Output Resources eee ceseeseceeeeeeceeeeeeeeeeenes Figure 4 5 3D Vector Space Re
85. the FlexMotion controller This power up state is for safety and cannot be bypassed by saving custom defaults A power cycle also resets velocity override back to 100 An axis automatically starts to servo servo axes or the motor is energized stepper axes when you execute a Start Motion Blend Motion Stop Motion halt type Find Home or Find Index function Depending upon your application requirements you may need to configure the general purpose I O ports enable the ADCs and so on Refer to the API function description in chapters 5 through 13 for more information on each setup and configuration function Motion Trajectories This section covers features related to motion trajectories starting and stopping motion and the circumstances under which an axis is automatically stopped or killed It also discusses how the internal representation for some trajectory parameters differs from their API and how this affects their range and resolution Trajectory generators are responsible for calculating the instantaneous position command that controls acceleration and velocity while it moves the axis to its target position This command is then sent to the PID servo loop or stepper pulse generator depending on axis configuration Trajectory Types and Modes To program a motion trajectory set the operation mode load the double buffered trajectory parameters then execute the Start Motion or Blend Motion function Trapezoidal Point t
86. the master axis is not under control of the FlexMotion controller or whenever extremely tight synchronization between multiple axes is required These functions are arranged alphabetically by function name As a quick reference a summary of the entire FlexMotion function API is in Appendix B FlexMotion Functions National Instruments Corporation 6 63 FlexMotion Software Reference Manual Chapter 6 Trajectory Control Functions flex_contig_gear_master flex_config_gear_master Configure Gear Master Format status flex_config_gear_master boardID axis masterAxisOrEncoderOrADC Purpose Assigns a master axis encoder or ADC channel for master slave gearing Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer axis u8 slave axis to be controlled master AxisOrEncoderOrADC ug axis encoder or ADC channel to be used as the master Parameter Discussion axis is the slave axis to be controlled masterAxisOrEncoderOrADC is the axis 1 through 6 trajectory generator encoder 0x21 through 0x26 or ADC channel 0x51 through 0x58 to be used as the master for this slave axis A zero 0 value means no master is assigned default Using This Function The Configure Gear Master function assigns a master axis encoder or ADC channel to the slave axis selected Any number of slave axes can have the same master but each slave axis can have only one mast
87. the offending commands 8 NIMC_previousPacketError The function called previous to this one is not supported by this type of controller 9 NIMC_packetErrBitNotClearedError Packet error bit not cleared by terminator hardware error 10 NIMC_badCommandError Command ID not recognized Invalid command sent to the controller FlexMotion only 11 NIMC_badReturnDataBufferPacketError Corrupt readback data The data returned by the motion controller is corrupt 12 NIMC_badBoardIDError Illegal board ID You must use the board ID assigned to your controller in Measurement amp Automation Explorer 13 NIMC_packetLengthError Command packet length is incorrect 14 NIMC_closedLoopOnlyError This command is valid only on closed loop axes closed loop stepper and servo 15 NIMC_returnDataBufferFlushError Unable to flush the Return Data Buffer National Instruments Corporation A 3 FlexMotion Software Reference Manual Appendix A Error Codes Table A 1 Error Codes Summary Continued Error Code Symbolic Name Description 16 NIMC_servoOnlyError This command is valid only on servo axes 17 NIMC_stepperOnlyError This command is valid only on stepper axes 18 NIMC_closedLoopStepperOnlyError This command is valid only on closed loop stepper axes 19 NIMC_noBoardConfigInfoError Controller configuration information is missing or corrupt 20 NIMC_counts
88. this function Available return Vectors include return data to the host OxFF return data to a variable 0x01 through 0x78 and don t return data 0 Using This Function The Exclusive OR Variables function performs a bitwise logical XOR of the values in the two variables and returns the result to the destination specified by the returnVector returnVector value variablel value XOR variable2 value The result can be returned to a new variable or one of the two input variables returned to the host computer or thrown away In all cases the EQUAL condition code is set True if the result equals zero all bits low and False if any bit is set The GREATER THAN and LESS THAN codes are also set but can be confusing after logical bitwise operations Example If the values in variablel and variable2 are OxSASA 1234 and OxFFFF 4321 respectively the result of the bitwise XOR is OxA5A5 5115 which is NOT EQUAL to zero FlexMotion Software Reference Manual 12 44 www natinst com Advanced Functions This chapter contains detailed descriptions of advanced functions used to control the communications between the host computer and FlexMotion controller The functions are arranged alphabetically by function name These functions allow you to check the status of communications control host interrupts clear the Return Data Buffer RDB and manage the low level communications to the controller You will typically not have to
89. to 4 20 velocity in counts s or steps s 4 18 www natinst com velocity in RPM 4 18 velocity override in percent 4 19 trajectory types and modes 4 14 to 4 17 electronic gearing 4 16 linear and circular interpolation 4 16 move blending 4 15 pull in moves 4 17 trapezoidal point to point position control 4 14 to 4 15 velocity control 4 15 move blending 4 15 move functions See also blend functions flex_check_move_complete_status 6 4 to 6 5 flex_wait_for_move_complete 6 52 to 6 54 MustOn MustOff MOMO protocol functions flex_set_bp_momo function 8 31 to 8 32 flex_set_inhibit_momo function 8 17 to 8 18 flex_set_port_momo function 10 27 to 10 29 flex_set_status_momo function 12 16 to 12 17 National Instruments application software 1 2 National Instruments Web support E 1 to E 2 0 object management functions 12 24 to 12 30 flex_load_description 12 25 flex_object_mem_manage 12 26 to 12 27 flex_read_description_rtn 12 28 flex_read_registry_rtn 12 29 to 12 30 summary table B 6 National Instruments Corporation l 11 Index onboard programming functions 12 1 to 12 44 data operations functions 12 31 to 12 44 flex_add_vars 12 32 flex_and_vars 12 33 flex_div_vars 12 34 flex_load_var 12 35 flex_lshift_var 12 36 to 12 37 flex_mult_vars 12 38 flex_not_var 12 39 flex_or_vars 12 40 flex_read_var 12 41 to 12 42 flex_read_var_rtn 12 41 to 12 42 flex_sub_vars 12 43 flex_xor_
90. to be blended 3 Note Itis not possible to combine the blend of an axis and the blend of a vector space in a single use of this function To accomplish this create a single axis vector space and then execute a multi vector space blend Using This Function The Blend Motion function is used to blend motion profiles on axes or vector spaces either simultaneously or individually A blend is similar to a normal start and has the same requirements for valid trajectory parameters as the Start Motion function The blended move uses the most recently loaded values of acceleration velocity target position s curve operation mode and so on to generate the motion profile A Note Ifa stepper axis is in a killed state not energized halt the axis using the Stop Motion function with stopType set to NIMC_HALT_STOP before you execute a Start Motion or Blend Motion function After you halt the axis you might need to wait before executing a Start Motion or Blend Motion function so that the stepper drive comes out of reset state If the stepper drive does not come out of reset state before you execute the function the stepper axis might lose some steps during acceleration To determine whether you need to wait before executing the function refer to your stepper drive documentation or vendor The primary difference between a Start Motion function and a Blend Motion function is that the Start Motion is immediate and preemptive while Blend Motion waits an
91. to the expected data for the command sent to the controller 35 NIMC_watchdogTimeoutError A fatal error has occurred on the controller You must reset the controller by power cycling your computer Contact National Instruments technical support if this problem persists 36 NIMC _invalidRatioError A specified ratio is invalid 37 NIMC _irrelevantAttributeError The specified attribute is not relevant 38 NIMC _internalSoftwareError An unexpected error has occurred internal to the driver Please contact National Instruments with the name of the function or VI that returned this error 39 NIMC_1394WatchdogEnableError The communication watchdog on the 1394 motherboard could not be started 49 NIMC_downloadChecksumError There was an error during check sum on a file being downloaded to the FlexMotion controller 51 NIMC_firmwareDownloadError Firmware download failed Reset the controller and try downloading again National Instruments Corporation A 5 FlexMotion Software Reference Manual Appendix A Error Codes Table A 1 Error Codes Summary Continued Error Code Symbolic Name Description 52 NIMC_FPGAProgramError Internal Error The FPGA failed to program Reset the controller and try again If the problem persists contact National Instruments technical support 53 NIMC_DSPInitializationError Internal Error The DSP failed to initialize Reset the controller
92. up defaults 3 Note The effect of this function is not realized until the next time the controller is powered up from a power down state You only need to use this function if you have previously modified the power up defaults using the Save Default Parameters function and want to revert back to the factory defaults FlexMotion Software Reference Manual 13 14 www natinst com flex_save_ defaults Chapter 13 Advanced Functions flex_save_defaults Save Default Parameters Format status flex_save_defaults boardID Purpose Saves the current operating parameters as defaults Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer Using This Function The Save Default Parameters function saves all important configuration initialization and trajectory parameters for use after subsequent power up resets When you execute this function all parameters listed in Appendix C Default Parameters are saved to nonvolatile flash memory and become the power up defaults Sy Note When the controller is powered up and the onboard processors boot the defaults are automatically applied There will be some time however between the controller powering up and the application of defaults If necessary you can reinstate the factory default parameters as the power up defaults with the Reset Default Parameters function This function does not perform a complete
93. use any of these functions because the default configuration is correct for almost all applications These functions are available to handle special applications This chapter also describes two utility functions that are regularly used but are different from the rest of the FlexMotion API in that they are not typically included in application code Clear Power Up Status and Save Default Parameters As a quick reference a summary of the entire FlexMotion function API is in Appendix B FlexMotion Functions National Instruments Corporation 13 1 FlexMotion Software Reference Manual Chapter 13 Advanced Functions flex_clear_pu_status flex_clear_pu_status Clear Power Up Status Format status flex_clear_pu_status boardID Purpose Clears the Power Up status bit and boots up the controller making it ready to accept functions Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer Using This Function Whenever the FlexMotion controller is reset by a power cycle watchdog timeout or other means the controller is suspended in a Power Up state and a Power Up status bit in the Communications Status Register CSR is set The Clear Power Up Status function is used to clear this bit and ready the controller for motion control communications You cannot execute other motion control functions until the Power Up status bit has been cleared by using this function
94. variables you must use the 16 16 fixed point representation for all angles Using This Function The Load Spherical Arc function defines an arc in the x y plane of a coordinate system that has to be transformed by rotation in pitch and yaw from the normal 3D vector space xyz In the transformed x y z space the spherical arc is reduced to a simpler circular arc It is specified by a radius starting angle and travel angle and like all vector space moves uses the loaded value of vector acceleration and vector velocity to define the motion along the path of the arc in the x y plane Figure 6 3 shows a graphic representation of the transformation between the x y z and xyz coordinate spaces The formal definitions of planePitch and planeYaw are listed in the previous section National Instruments Corporation 6 61 FlexMotion Software Reference Manual Chapter 6 Trajectory Control Functions flex_load_spherical_arc Plane Pitc DON Plane Yaw xX Figure 6 3 Spherical Arc Pitch and Yaw Definitions Pitch and yaw transformations are inherently confusing because they interact To avoid ambiguities you can think about spherical arcs and coordinate transformations as follows The spherical arc is defined as a circular arc in the x y plane of a transformed vector space x y z The original vector space xyz is defined by the Configure Vector Space function The transformed vecto
95. vector space to be controlled radius is the arc radius in counts servo axes or steps stepper axes The range is 2 to 23 1 counts steps startAngle is the double precision floating point value in degrees of the starting angle of the arc The range is 0 to 359 9993 13 where angle 0 is along the positive x axis and values increase counterclockwise from the positive x axis in the xy plane travelAngle is the double precision floating point value in degrees of the angle to be traversed The range is 1 474 560 to 1 474 200 4 096 to 4 095 revolutions A positive travelAngle defines counter clockwise rotation in the xy plane 3 Note Internally the floating point values for startAngle and travelAngle are represented as scaled fixed point numbers See the Arc Angles in Degrees section in Chapter 4 FlexMotion Software Reference Manual 6 56 www natinst com Chapter 6 Trajectory Control Functions flex_load_circular_arc Software Overview for more information on angular units and their effect on arc resolution inputVector indicates the source of the data for this function Available input Vectors include immediate OxFF or variable 0x01 through 0x78 3 Note The conversion from floating point to fixed point is performed on the host computer not on the FlexMotion controller To load arc functions from onboard variables you must use the 16 16 fixed point representation for all angles Using This Function The Load Cir
96. 0 Output 3 Note On FlexMotion 6C controllers all bits in a port must be set to the same direction leading to a directionMap of OxFF all inputs or O all outputs National Instruments Corporation 10 25 FlexMotion Software Reference Manual Chapter 10 Analog amp Digital I O Functions flex_set_port_direction Using This Function The Set I O Port Direction function configures the bits in a general purpose I O port as input or output After setting the direction use the Read I O Port function to read the port the Set I O Port MOMO function to write to the port and the Set I O Port Polarity function to set the polarity of each bit in the port to active high or active low B Notes On PC FlexMotion and PCI FlexMotion controllers bits 5 and 6 of I O port 2 have special capabilities and are input only When T O port 2 is set as output you cannot use bits 5 and 6 The direction of bits in the RTSI software port port 5 on 7344 controllers is controlled with the Select Signal function FlexMotion Software Reference Manual 10 26 www natinst com Chapter 10 Analog amp Digital I O Functions flex_set_port_momo flex_set_port_momo Set 1 0 Port MOMO Format status flex_set_port_momo boardID port mustOn mustOff Purpose Sets an I O port value using the MustOn MustOff protocol Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer port u8 general purpose I
97. 0 0 0 0 0 0 0 0 0 0 0 1 1 1 0 1 0 FlexMotion Software Reference Manual 8 16 www natinst com flex_set_inhibit_momo Chapter 8 Motion 1 0 Functions flex_set_inhibit_momo Set Inhibit MOMO Format status flex_set_inhib_momo boardID mustOn mustOff Purpose Sets the inhibit outputs using the MustOn MustOff protocol Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer mustOn u8 bitmap of inhibit outputs to be forced on mustOff u8 bitmap of inhibit outputs to be forced off Parameter Discussion mustOn is the bitmap of inhibit outputs to be forced on D7 D6 DS D4 D3 D2 D1 DO 0 mustOn 6 mustOn 5 mustOn 4 mustOn 3 mustOn 2 mustOn 1 For D1 through D6 1 Inhibit output forced On 0 Inhibit output unchanged default mustOff is the bitmap of inhibit outputs to be forced off D7 D6 DS D4 D3 D2 D1 DO 0 mustOff 6 mustOff 5 mustOff 4 mustOff 3 mustOff 2 mustOff 1 For D1 through D6 1 Inhibit output forced Off 0 Inhibit output unchanged default National Instruments Corporation FlexMotion Software Reference Manual Chapter 8 Motion 1 0 Functions flex_set_inhibit_momo Using This Function The Set Inhibit MOMO function controls disabled
98. 0 V 2 6 x Kd x pos_err t1 pos_err t0 where the time between t1 and tO is the derivative sample period A non zero value of Kd is required for all systems that use torque block amplifiers where the command output is proportional to motor torque for the servo loop operation to be stable Too small a Kd value will result in servo loop instability With velocity block amplifiers where the command output is proportional to motor velocity you typically set Kd to zero or to a very small value Derivative Sample Period The derivative sample period parameter Td is used as a multiplier of the PID sample period PID update rate For information about setting the PID update rate refer to the Enable Axes function Td determines how often in update samples the derivative of position error is calculated The formula for calculating the derivative sample period from Td is as follows Derivative Sample Period Td 1 x PID Sample Period Because the range for Td is 0 to 63 the shortest derivative sample period is as follows Derivative Sample Period 1 x 62 5 us 62 5 us The longest derivative sample period is as follows Derivative Sample Period 64 x 500 us 32 ms Adjusting Td provides greater flexibility in tuning the PID loop derivative term As Td is increased you can use a proportionally lower value of Kd for similar results You should start FlexMotion Software Reference Manual 5 24 www natinst com Chapter 5 Axis amp R
99. 0010110 Figure 4 2 Stepper Axis Resources In its default configuration FlexMotion 6C controllers come preconfigured as Six servo axes with Encoder 1 and DAC 1 mapped to Axis 1 Encoder 2 and DAC 2 mapped to Axis 2 and so on through Axis 6 The 7344 controllers are preconfigured as four servo axes with similar feedback and output resource mappings However you can map any feedback and output resource to any axis This flexibility allows you to tailor each axis to accommodate your specific motion system requirements 3 Note For many servo applications the factory default mapping of encoders and DACs to axes will meet your typical system requirement In addition to the primary feedback and output resources axes can have secondary feedback and output resources mapped to them You can use this capability to implement dual loop feedback and other advanced control algorithms Refer to the Configure Axis Resources function for more information Axes also have dedicated motion I O assigned to them A forward and reverse limit input a home input and an inhibit output are dedicated to each axis Depending on whether you are using a FlexMotion 6C or 7344 controller there are either six or four identical sets of these signals National Instruments Corporation 4 3 FlexMotion Software Reference Manual Chapter 4 Software Overview so mapping is not required If not needed by the axis you can
100. 10 26 flex_set_port_momo 10 27 to 10 29 flex_set_port_pol 10 30 to 10 31 axis amp resource configuration functions flex_config_axis 5 2 to 5 5 flex_config_mc_criteria 5 6 to 5 8 flex_config_step_mode_pol 5 9 to 5 10 flex_config_vect_spc 5 11 to 5 12 flex_set_stepper_loop_mode 5 30 to 5 31 breakpoint functions flex_set_bp_momo 8 31 to 8 32 gearing functions flex_config_gear_master 6 64 to 6 65 high speed capture functions flex_set_hs_cap_pol 8 41 to 8 42 motion I O functions flex_configure_inhibits 8 2 to 8 3 flex_set_home_polarity 8 15 to 8 16 flex_set_inhibit_momo 8 17 to 8 18 flex_set_limit_polarity 8 19 to 8 20 onboard programming functions flex_set_status_momo 12 16 to 12 17 trajectory control functions flex_set_op_mode 6 45 to 6 48 National Instruments Corporation l 3 Index D DAC functions flex_load_dac 10 11 flex_read_dac 6 93 to 6 94 flex_read_dac_limit_status 6 95 to 6 96 flex_read_dac_limit_status_rtn 6 95 to 6 96 flex_read_dac_rtn 6 93 to 6 94 DAC outputs purpose and use 4 6 to 4 7 resource IDs table 4 7 resources figure 4 6 data operations functions 12 31 to 12 44 flex_add_vars 12 32 flex_and_vars 12 33 flex_div_vars 12 34 flex_load_var 12 35 flex_lshift_var 12 36 to 12 37 flex_mult_vars 12 38 flex_not_var 12 39 flex_or_vars 12 40 flex_read_var 12 41 to 12 42 flex_read_var_rtn 12 41 to 12 42 flex_sub_vars 12 43 flex_xor_vars 12 44 summary
101. 2 D1 DO XXX XXX XXX XXX XXX XXX XXX XXX XXX XXX XXX XXX VS3 VS2 VS1 XXX The blend is complete 1 on vector spaces 2 and 3 or they do not exist but the blend is still pending 0 on vector space 1 For your programming convenience two utility functions Check Blend Complete Status and Wait for Blend Complete are provided which allow you to specify an axis vector space group of axes or group of vector spaces and find out if a blend is complete or wait until a blend is complete These functions return a simple true false value indicating whether or not a blend is complete FlexMotion Software Reference Manual 6 26 www natinst com Chapter 6 Trajectory Control Functions flex_read_follow_err and flex_read_follow_err_rtn flex_read_follow_err and flex_read_follow_err_rtn Read Following Error Format status flex_read_follow_err boardID axisOrVectorSpace return Vector status flex_read_follow_err_rtn boardID axisOrVectorSpace followingError Purpose Reads the instantaneous following error for an axis or vector space Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer axisOrVectorSpace u8 axis or vector space to be read returnVector u8 destination for the return data Output Name Type Description followingError i16 instantaneous following error for an axis or vector space in
102. 2 D1 DO XXX XXX XXX XXX XXX XXX XXX XXX XXX Axis6 Axis5 Axis4 Axis3 Axis2 Axis 1 XXX 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 On encoders mapped to axes 2 and 5 high speed captures have occurred but all other captures are pending or were never enabled FlexMotion Software Reference Manual 8 40 www natinst com Chapter 8 Motion I O Functions flex_set_hs_cap_pol flex_set_hs_cap_pol Set High Speed Capture Polarity Format status flex_set_hs_cap_pol boardID axisOrEncoder highSpeedCapturePolarity Purpose Sets the polarity of the high speed capture inputs as either inverting active low or noninverting active high Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer axisOrEncoder u8 axis or encoder selector highSpeedCapturePolarity ul6 bitmap of active polarities for the high speed capture inputs Parameter Discussion axisOrEncoder is the axis or encoder selector To set the high speed capture input polarity on multiple axes use 0 zero To set the high speed capture input polarity on multiple encoder resources use 0x20 highSpeedCapturePolarity is the bitmap of active polarities for the high speed capture inputs When setting polarities on multiple axes axisOrEncoder 0 D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO 0 0 0 0 0 0 0 0 0 Axis6 Axis5 Axis4 Axis3
103. 3 FlexMotion Software Reference Manual Chapter 6 Trajectory Control Functions flex_read_rpm and flex_read_rpm_rtn Using This Function The Read Velocity in RPM function returns the axis or vector space filtered velocity in RPM To minimize the quantization effects of any sampled data system the instantaneous measured velocity is averaged by a single pole low pass filter and converted to RPM before being returned The time constant for this filter is programmable with the Configure Velocity Filter function For vector spaces this function returns vector velocity the root mean square of the filtered velocities of the individual axes that make up the vector space 3 Note This function requires previously loaded values of either counts per revolution for servo axes or steps per revolution for stepper axes to operate correctly FlexMotion Software Reference Manual 6 34 www natinst com Chapter 6 Trajectory Control Functions flex_read_trajectory_status and flex_read_trajectory_status_rtn flex_read_trajectory_status and flex_read_trajectory_status_rtn Read Trajectory Status Format status flex_read_trajectory_status boardID axisOrVectorSpace statusType return Vector status flex_read_trajectory_status_rtn boardID axisOrVectorSpace statusType status Purpose Reads the selected motion trajectory status of all axes or vector spaces Parameters Input Name Type Description boardID u8 assi
104. 4 to 6 15 flex_load_torque_lim function 6 84 to 6 86 flex_load_torque_offset function 6 87 to 6 88 flex_load_var function 12 35 flex_load_velocity function 6 16 to 6 17 flex_load_vel_override function 6 91 to 6 92 flex_load_vel_tc_rs function 5 28 to 5 29 flex_load_vel_threshold function 6 89 to 6 90 flex_load_vs_pos function 6 18 to 6 19 flex_Ishift_var function 12 36 to 12 37 flex_mult_vars function 12 38 flex_not_var function 12 39 flex_or_vars function 12 40 flex_pause_prog function 12 12 flex_read_adc function 10 13 to 10 14 flex_read_adc_rtn function 10 13 to 10 14 flex_read_axis_status function 6 20 to 6 23 flex_read_axis_status_rtn function 6 20 to 6 23 flex_read_blend_status function 6 24 to 6 26 flex_read_blend_status_rtn function 6 24 to 6 26 flex_read_breakpoint_status function 8 29 to 8 30 flex_read_breakpoint_status_rtn function 8 29 to 8 30 flex_read_cap_pos function 8 36 to 8 37 flex_read_cap_pos_rtn function 8 36 to 8 37 flex_read_csr_rtn function 13 12 to 13 13 flex_read_dac function 6 93 to 6 94 FlexMotion Software Reference Manual l 6 flex_read_dac_limit_status function 6 95 to 6 96 flex_read_dac_limit_status_rtn function 6 95 to 6 96 flex_read_dac_rtn function 6 93 to 6 94 flex_read_encoder function 10 15 to 10 16 flex_read_encoder_rtn function 10 15 to 10 16 flex_read_err_msg_rtn function 11 11 to 11 12 flex_read_follow_err function 6 27 to 6 28 flex_read_follow_err
105. 6 69 flex_enable_home_inputs function 8 4 to 8 5 FlexMotion Software Reference Manual flex_enable_hs_caps function 8 34 to 8 35 flex_enable_limits function 8 6 to 8 8 flex_enable_shutdown 13 9 to 13 10 encoder functions flex_configure_encoder_filter 10 2 to 10 3 flex_enable_encoders 10 9 to 10 10 flex_read_encoder 10 15 to 10 16 flex_read_encoder_rtn 10 15 to 10 16 flex_reset_encoder 10 19 encoders encoder resource IDs table 4 5 purpose and use 4 4 to 4 5 error amp utility functions 11 1 to 11 12 flex_get_error_description 11 2 to 11 5 flex_get_motion_board_info 11 6 to 11 8 flex_get_motion_board_name 11 9 to 11 10 flex_read_err_msg_rtn 11 11 to 11 12 summary table B 5 errors and error handling 4 22 to 4 25 error codes summary table A 1 to A 13 error handling techniques 4 24 to 4 25 fatal hardware and communication errors 4 24 modal and non modal errors 4 22 to 4 24 communication versus individual function entry points 4 23 error message stack 4 23 onboard programs 4 24 F fatal hardware and communication errors 4 24 FIFO buffers in host FlexMotion board communication 4 21 www natinst com Find Home amp Find Index functions 9 1 to 9 8 flex_find_home 9 2 to 9 6 flex_find_index 9 7 to 9 8 summary table B 5 flex_acquire_trajectory_data function 6 73 to 6 74 flex_add_vars function 12 32 flex_and_vars function 12 33 flex_begin_store function 12 2 to
106. 6 95 to 6 96 flex_read_dac_rtn 6 93 to 6 94 flex_read_steps_gen 6 97 to 6 98 flex_read_steps_gen_rtn 6 97 to 6 98 flex_read_target_pos 6 99 to 6 100 www natinst com National Instruments Corporation flex_read_target_pos_rtn 6 99 to 6 100 flex_read_trajectory_data 6 101 to 6 102 flex_read_trajectory_data_rtn 6 101 to 6 102 summary table B 3 arcs functions 6 55 to 6 62 flex_load_circular_arc 6 56 to 6 57 flex_load_helical_arc 6 58 to 6 59 flex_load_spherical_arc 6 60 to 6 62 summary table B 3 default parameters table C 2 to C 3 flex_check_blend_complete_status 6 2 to 6 3 flex_check_move_complete_status 6 4 to 6 5 flex_load_acceleration 6 6 to 6 7 flex_load_follow_err 6 8 to 6 9 flex_load_rpm 6 10 to 6 11 flex_load_rpsps 6 12 to 6 13 flex_load_target_pos 6 14 to 6 15 flex_load_velocity 6 16 to 6 17 flex_load_vs_pos 6 18 to 6 19 flex_read_axis_ status 6 20 to 6 23 flex_read_axis_status_rtn 6 20 to 6 23 flex_read_blend_status 6 24 to 6 26 flex_read_blend_status_rtn 6 24 to 6 26 flex_read_follow_err 6 27 to 6 28 flex_read_follow_err_rtn 6 27 to 6 28 flex_read_mcs_rtn 6 29 to 6 30 flex_read_pos 6 31 to 6 32 flex_read_pos_rtn 6 31 to 6 32 flex_read_rpm 6 33 to 6 34 flex_read_rpm_trtn 6 33 to 6 34 flex_read_trajectory_status 6 35 to 6 38 flex_read_trajectory_status_rtn 6 35 to 6 38 flex_read_velocity 6 39 to 6 40 flex_read_velocity_rtn 6 39 to 6 40 1 15 Index fl
107. 8 source of the data for this function Parameter Discussion vectorSpace is the vector space to be controlled radius is the arc radius in counts servo axes or steps stepper axes The range is 2 to 23 1 counts steps startAngle is the double precision floating point value in degrees of the starting angle of the arc The range is 0 to 359 9993 13 where angle 0 is along the positive x axis and values increase counterclockwise from the positive x axis in the xy plane travelAngle is the double precision floating point value in degrees of the angle to be traversed The range is 1 474 560 to 1 474 200 4 096 to 4 095 revolutions A positive travelAngle defines counter clockwise rotation in the xy plane 3 Note Internally the floating point values for startAngle and travelAngle are represented as scaled fixed point numbers See the Arc Angles in Degrees section in Chapter 4 Software Overview for more information on angular units and their effect on arc resolution FlexMotion Software Reference Manual 6 58 www natinst com Chapter 6 Trajectory Control Functions flex_load_helical_arc linearTravel is the linear travel of the z axis in counts servo axes or steps stepper axes The range is 23 to 23 1 counts steps Sy Note Loading a zero 0 for linearTravel reduces the helical arc to a circular arc inputVector indicates the source of the data for this function Available inputVectors
108. 8 to 32 767 to allow for both positive and negative gearing ratioDenominator is the gear ratio denominator of the slave relative to the master The denominator must be between 1 to 32 767 inputVector indicates the source of the data for this function Available inputVectors include immediate OxFF or variable 0x01 through 0x78 FlexMotion Software Reference Manual 6 70 www natinst com Chapter 6 Trajectory Control Functions flex_load_gear_ratio Using This Function The Load Gear Ratio function loads the gear ratio of the slave axis relative to its master and selects whether this ratio is absolute or relative The ratio is loaded as a numerator and denominator because it is a natural format for a ratio numerator denominator and it allows a broad range of ratios from 1 32 767 to 32 767 1 The ratio is always specified as slave relative to master slave master When you execute the Enable Gearing function the positions of the slave and its master are recorded as their absolute gearing reference From then on as long as the gear ratio remains absolute every incremental change of the master position is multiplied by the absolute gear ratio and applied to the slave axis or axis Ifa relative gear ratio is selected and loaded after gearing is enabled the position of the master is recorded as its relative reference point and every incremental change from this reference point is multiplied by the relative gear ratio and applied to t
109. A one 1 in a bit location of the MustOn bitmap sets the breakpoint high while a one 1 in the corresponding location of the MustOff bitmap resets the breakpoint low A zero 0 in either bitmap has no effect so leaving both the MustOn and MustOff bits at zero is effectively a hold and the state of the breakpoint output is unchanged If you set both the MustOn and MustOff bits to one 1 it is interpreted as a MustOn condition and the breakpoint is set high FlexMotion Software Reference Manual 8 32 www natinst com Chapter 8 Motion 1 0 Functions High Speed Capture Functions High Speed Capture Functions This subsection contains detailed descriptions of high speed capture functions High speed capture inputs are an enhancement to the encoder FPGA and are available when the encoders are operating as axis feedback or as independent encoder resources High speed capture functionality is available on servo and closed loop stepper axes Included in this section are the functions to enable high speed capture read the status and the captured position and set the polarity of the high speed inputs The high speed capture inputs can also function as latching general purpose inputs Configure as you would for high speed capture operation but ignore the captured position You can then read the state of the latched inputs These functions are arranged alphabetically by function name As a quick reference a summary of the entire FlexMotion fun
110. Axis2 Axis 1 0 For D1 through D6 1 Inverting default 0 Noninverting National Instruments Corporation 8 41 FlexMotion Software Reference Manual Chapter 8 Motion 1 0 Functions flex_set_hs_cap_pol When setting polarities directly on multiple encoder resources axisOrEncoder 0x20 D15 D14 D13 D12 Dil D10 D9 D8 D7 D6 DS D4 D3 D2 D1 DO 0 0 0 0 0 0 0 0 0 0 0 Enc 4 Enc 3 Enc 2 Enc 1 0 For D1 through D6 1 Inverting default 0 Noninverting Note High speed capture inputs are only available on encoders 1 through 4 resources 0x21 through 0x24 Using This Function The Set High Speed Capture Polarity function defines the active polarity for each high speed capture input as either inverting or noninverting Inverting polarity means that an active low input corresponds to a logical True or On state Conversely noninverting polarity means that an active high input corresponds to a logical True or On state High speed capture inputs are an integral part of the encoder resources You can execute this function indirectly on axes or directly on encoder resources When sent to multiple axes this function sets the polarity of the high speed capture inputs of the encoders mapped to the corresponding axes You can enable high speed capture inputs to capture instantaneous encoder position when the input becomes acti
111. D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 DI DO 0 0 0 0 0 0 0 0 0 0 Enc 4 Enc 3 Enc 2 Enc 0 For D1 through D4 1 Capture enable 0 Capture disabled default Using This Function 3 The Enable High Speed Position Capture function enables high speed capture inputs to capture instantaneous encoder position when an input becomes active The position capture is implemented in the encoder FPGA to reduce capture latency to the sub 100 ns range High speed capture functionality is performed by the encoder resources themselves When this function is sent to axes it is actually being sent to the mapped encoder resources High speed inputs are only available on the FPGA encoder resources 0x21 through 0x24 The high speed inputs have programmable polarity You can set the active state of the input as active low inverting or active high noninverting with the Set High Speed Capture Polarity function You can determine the results of the high speed capture from the Read High Speed Capture Status and Read Captured Position functions High speed capture is useful in registration and synchronization applications You can calculate subsequent moves relative to the captured position For information about relative to capture mode refer to the Set Operation Mode function Note Enabling a high speed capture input when the input is already active captures the position immediately and sets the
112. DSPCommunicationsError Internal error A command from the onboard microprocessor to the DSP was corrupt and ignored 95 NIMC_DSPCommunicationsTimeoutError Internal error There was an internal timeout while sending commands to the DSP 96 NIMC_passwordError The password used for this function is incorrect 97 NIMC_mustOnMustOffConflictError There is a conflict between the mustOn and mustOff values set for this function 100 NIMC_IOEventCounterError Problem with the I O Event Counter 102 NIMC_wrongIODirectionError The I O bit configuration does not agree with its port s direction setting 103 NIMC_wronglOConfigurationError TO bit configuration is not possible for that pin 104 NIMC_outOfEventsError Internal error The number of events pending have reached the maximum allowed 106 NIMC_outputDeviceNotAssignedError No DAC or stepper output is assigned to this axis 108 NIMC_PIDUpdateRateError PID rate specified is too fast for the number of axes and or encoders enabled 109 NIMC_feedbackDeviceNotAssignedError No primary feedback device encoder or ADC is assigned to a servo or closed loop stepper axis 113 NIMC_noMoreRAMETrror No RAM available for object storage FlexMotion Software Reference Manual A 8 www natinst com Appendix A Error Codes Table A 1 Error Codes Summary Continued Error Code Symbolic Name Description 115 NIMC_jumpToInvalidLabelError A Jump to Label on C
113. Error Message Stack functions as a last in first out LIFO buffer so that the most recent error is available immediately You can read older errors with additional calls to this function When the stack is empty the Error Message Err Msg bit in the Communication Status Register is reset Example An application program running on the host computer monitors the Communication Status Register to check for errors If the Error Message bit is set the program sends a Read Error Message function to the controller and then reacts to the error information returned Depending upon the type of error and or the function and resource involved the appropriate action is taken You can check the Error Message bit again to see if any previous errors were missed Normally if the application program is functioning correctly errors are not generated The Error Message Stack is most useful during initial application debug and for handling special conditions FlexMotion Software Reference Manual 11 12 www natinst com Onboard Programming Functions This chapter contains detailed descriptions of functions used to load execute and save onboard programs The functions are arranged alphabetically by function name FlexMotion offers a rich set of programming functions and features that allow you to write and execute autonomous programs that are completely independent from the host computer FlexMotion has the capability of executing up to 10 simultaneou
114. FOBufferFullError Communication FIFO buffer between the host computer and the controller is full 76 NIMC_noHostDataError Communications error The controller did not receive any data in the command packet from the host computer 71 NIMC_corruptHostDataError Communications error The controller received corrupt data in the packet from the host computer 78 NIMC _invalidFunctionDataError Invalid data in the function 79 NIMC_autoStartFailedError The controller could not run the onboard program on auto start When you enable auto start make sure that you specify a valid program number and that the program is saved in FLASH ROM 80 NIMC _returnDataBufferFullError The Return Data Buffer on the controller is full 83 NIMC_DSPXmitBufferFullError Internal error The transmit buffer of the DSP is full Messages from DSP to the onboard microprocessor are being delayed or lost 84 NIMC_DSPInvalidCommandError Internal error The DSP received an illegal command 85 NIMC_DSPInvalidDeviceError Internal error The DSP received a command with an invalid Device ID National Instruments Corporation A 7 FlexMotion Software Reference Manual Appendix A Error Codes Table A 1 Error Codes Summary Continued Error Code Symbolic Name Description 92 NIMC_DSPXmitDataError Internal error The data returned by the DSP is incomplete or corrupt 93 NIMC_
115. False state The status will transition from Complete to Not Complete at the start of a move and stay in the Not Complete state for at least this delay time even in the case of a zero distance move The Configure Move Complete Criteria function is typically called for each axis prior to using the axis for position control Once the criteria are set they remain in effect until changed You can execute this function at any time When an axis starts its corresponding bit in the Move Complete Status register is reset to zero When the move completes the bit is set to one You can check the status of an axis or axes at any time by polling the MCS register Onboard programs can use this status to automatically sequence moves with the Wait on Condition function FlexMotion Software Reference Manual 5 8 www natinst com Chapter 5 Axis amp Resource Configuration Functions flex_contig_step_mode_pol flex_config_step_mode_pol Configure Step Mode amp Polarity Format status flex_config_step_mode_pol boardID axisOrStepperOutput modeAndPolarityMap Purpose Configures the mode and polarity of a stepper output Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer axisOrStepperOutput u8 axis or stepper output to be configured modeAndPolarityMap ul6 bitmap of output mode and polarity Parameter Discussion axisOrStepperOutput is the axis or stepper output to
116. FlexMotion Software Reference Manual 6 32 www natinst com flex_read_rpm and flex_read_rpm_rtn Chapter 6 Trajectory Control Functions flex_read_rpm and flex_read_rpm_rtn Read Velocity in RPM Format status flex_read_rpm boardID axisOrVectorSpace returnVector status flex_read_rpm_rtn boardID axisOrVectorSpace RPM Purpose Reads the filtered velocity of an axis or vector space in RPM Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer axisOrVectorSpace u8 axis or vector space to be read returnVector u8 destination for the return data Output Name Type Description RPM f64 filtered velocity in RPM Parameter Discussion axisOrVectorSpace is the axis or vector space to be read return Vector indicates the desired destination for the return data generated by this function Available return Vectors include return data to the host OxFF return data to a variable 0x01 through 0x78 and don t return data 0 3 Note The suffix _rtn on the function indicates that the data should be returned to the host When this calling convention is used no returnVector is required RPM is the filtered velocity value in RPM expressed as a double precision floating point number For vector spaces RPM is the filtered vector velocity for the vector move The sign of RPM indicates direction of motion National Instruments Corporation 6 3
117. FlexMotion controller Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer mode u8 selects send command only read RDB only or both send command and read RDB wordCount u8 number of 16 bit words in the command packet vector u8 source of the data for this function or destination for the return data Input Output Name Type Description resource ug axis vector space encoder ADC channel program or other resource command ul6 command ID for the function data u16 array of data to from the controller FlexMotion Software Reference Manual 13 4 www natinst com Chapter 13 Advanced Functions flex_communicate Parameter Discussion mode selects the communications mode for the function mode Constant mode Value Description NIMC_SEND_COMMAND 0 send the command packet only NIMC_SEND_AND_READ 1 send the command packet and then read the RDB NIMC_READ_RDB 2 read the RDB only wordCount is the number of 16 bit words in the command packet Appendix B FlexMotion Functions lists the word counts for all the FlexMotion API functions resource is the axis vector space encoder ADC channel DAC program or other resource on the FlexMotion controller command is the command ID for the function Appendix B FlexMotion Functions lists the command IDs for all the FlexMotion API functions data is an array of 16 bit data words Depending upon mode this data is
118. Initialization Procedure ssseseeseeeseeeessereseeeserrserersreeesreeree 4 13 System Configuration 0 0 eee eececeeeeeeeeeeeeseeseecaecaecsecsseeecneeeeeees 4 13 Motion I O Configuration cee eesceceseeesceeeeeeceeeeeesenesseeeseesaeaee 4 13 Per Axis Configuration cece cseceseceeceseeseceeeeeseeseeeeeeneeseeenees 4 13 Initialize Trajectory Parameters Per AXiS 0 cee eeeseesecseeeeees 4 13 Establish a Position Reference Per AXiS ccccssecessseeesseeeeseeees 4 13 MOON Trajectories nisreen i t n aa O EEIE EAR E E R R 4 14 Trajectory Types and Modes eeccescccencecssceseceesecesseceececeaesenceeeneesaeeeeeeensees 4 14 Trapezoidal Point to Point Position Control eseseeeseeeeeeseeereeeee 4 14 Velocity Controls isso ar a rE naan steep 4 15 Move Blendi geas feet iea a E needs 4 15 Electromic Gearing serci e n E E E EE a 4 16 Linear and Circular Interpolation ssssesesseeeeesseeeeeseeersrrsrreesseereeese 4 16 Pull in Movesy 35s sis 3s Seated ee a SE ee 4 17 Trajectory Parameters monre E E E T RREA 4 17 Velocity in RPM a e e a E E EER 4 18 Velocity in Counts s or Steps S ssseeesseeeseeeeressseerrserrrsreerrrrsreeresese 4 18 Acceleration in RPS S oo ce eeeeceseesscesceeeceseeeeseeseseeenecseeeaecseeaeenaes 4 19 FlexMotion Software Reference Manual vi www natinst com Contents Velocity Override in Percent eee ceeececeeeceeceeeeeeeeseeeseeseeeneenaes 4 19 Arc Angles in Degrees 0
119. Jump to Label on Condition Format status flex_jump_label_on_condition boardID resource condition mustOn mustOff matchType labelNumber Purpose Inserts a conditional jump in a program Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer resource u8 axis vector space or other resource condition ul6 qualifying condition for the jump mustOn u8 bitmap of bits that must be True mustOff u8 bitmap of bits that must be False matchType ul6 selector for type of match required labelNumber ul6 label number to jump to Parameter Discussion resource is the axis control vector space control or other resource involved in the condition condition is the qualifying condition for the jump condition Constant condition Value NIMC_CONDITION_LESS_THAN 0 NIMC_CONDITION_EQUAL 1 NIMC_CONDITION_LESS_THAN_OR_EQUAL 2 NIMC_CONDITION_GREATER_THAN 3 NIMC_CONDITION_NOT_EQUAL 4 NIMC_CONDITION_GREATER_ 5 THAN_OR_EQUAL NIMC_CONDITION_TRUE 6 FlexMotion Software Reference Manual 12 6 www natinst com Chapter 12 Onboard Programming Functions flex_jump_label_on_condition condition Constant condition Value Valid resource NIMC_CONDITION_HOME_FOUND 7 N A NIMC_CONDITION_INDEX_FOUND 8 N A NIMC_CONDITION_HIGH_SPEED_ 9 0 axes or CAPTURE 0x20
120. LL is installed in the Windows System directory in Windows 98 95 and in the Winnt System32 directory in Windows 2000 NT Creating a 32 Bit LabWindows CVI Application The FlexMotion header file for LabWindows CVI programmers is FlexMotn h FlexMotn h automatically includes other required files such as motnerr h the FlexMotion error file for errors returned by the FlexMotion functions and motncnst h the FlexMotion constants file for the constants used while making calls to the FlexMotion functions All header files are installed in the FlexMotion Include directory To create an application using LabWindows CVI link to the appropriate FlexMotion import library If you set the default compiler compatibility mode to Microsoft Visual C link to FlexMS32 11ib installed in the FlexMotion lib Microsoft directory If you set the default compiler compatibility mode to Borland C link to FlexBC32 1ib library installed in the FlexMotion lib Borland directory Example programs using these import libraries and the Flexmotion32 d11 are in installed in the FlexMotion Examples directory Creating a 32 Bit Microsoft or Borland C C Application The FlexMotion header file for C C programmers is FlexMotn h FlexMotn h automatically includes other required files such as motnerr h the FlexMotion error file for errors returned by the FlexMotion functions and motncnst h the FlexMotion constants file for the constants used while maki
121. M or ROM but you cannot split programs between the two With an average command size of 10 bytes a single program can be as large as 3 200 commands Conversely the FlexMotion 6C controller can simultaneously execute 10 programs five from RAM and five from ROM each 640 functions long The 7344 controller has 64 KB of RAM plus 128 KB of ROM divided into two 64 KB sectors for program and object storage You can run programs from either RAM or ROM but you cannot split programs between the two and you cannot split programs between the two 64 KB ROM sectors With an average command size of 10 bytes a single program can be as FlexMotion Software Reference Manual 12 2 www natinst com Chapter 12 Onboard Programming Functions flex_begin_store large as 6 400 commands As another example the 7344 controller can simultaneously execute 10 programs five from RAM and five from ROM with each program up to 1 280 commands long Attempting to store more than 32 programs generates an error Similarly an error is generated if you run out of memory during program storage Both of these cases are extremely unlikely National Instruments Corporation 12 3 FlexMotion Software Reference Manual Chapter 12 Onboard Programming Functions flex_end_store flex_end_store End Program Storage Format status flex_end_store boardID program Purpose Ends a program storage session Parameters Input Name Type Description boar
122. Manual 8 28 www natinst com Chapter 8 flex_read_breakpoint_status and flex_read_breakpoint_status_rtn Motion I O Functions flex_read_breakpoint_status and flex_read_breakpoint_status_rtn Read Breakpoint Status Format status flex_read_breakpoint_status boardID axisOrEncoder breakpointType returnVector status flex_read_breakpoint_status_rtn boardID axisOrEncoder breakpointType breakpointStatus Purpose Reads the breakpoint status for all axes or encoders Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer axisOrEncoder u8 axis or encoder selector breakpointType ul6 reserved must be 0 returnVector u8 destination for the return data Output Name Type Description breakpointStatus ul6 bitmap of breakpoint status Parameter Discussion axisOrEncoder is the axis or encoder selector For multi axis status use 0 zero For multi encoder status use 0x20 breakpointType is a reserved input that must be set to NIMC_POSITION_BREAKPOINT 0 returnVector indicates the desired destination for the return data generated by this function Available return Vectors include return data to the host OxFF return data to a variable 0x01 through 0x78 and don t return data 0 Sy Note The suffix _rtn on the function indicates that the data should be returned to the host When this calling convention is used no retu
123. Map 0x1E which corresponds to the following bitmap 0 Reverse 6 Reverse 5 Reverse 4 Reverse 3 Reverse 2 Reverse 1 0 0 FlexMotion Software Reference Manual 0 1 8 20 1 1 1 www natinst com Chapter 8 Motion 1 0 Functions Breakpoint Functions Breakpoint Functions This subsection contains detailed descriptions of breakpoint functions Position breakpoints are an enhancement to the encoder FPGA and are available when the encoders are operating as axis feedback or as independent encoder resources Breakpoint functionality is available on servo and closed loop stepper axes that use encoder feedback resources 0x21 through 0x24 Included in this section are the functions to load enable and read the status of position breakpoints You can also load a breakpoint position modulus Like all motion I O breakpoint outputs can also function as general purpose outputs with the Set Breakpoint Output MOMO function These functions are arranged alphabetically by function name As a quick reference a summary of the entire FlexMotion function API is in Appendix B FlexMotion Functions National Instruments Corporation 8 21 FlexMotion Software Reference Manual Chapter 8 Motion 1 0 Functions flex_enable_bp flex_enable_bp Enable Breakpoint Format status flex_enable_bp boardID axisOrEncoder enableMode actionOnBreakpoint Purpose Enables a position breakpoint on an
124. Motion Control FlexMotion Software Reference Manual Wy NATIONAL August 1999 Edition gt INSTRUMENTS Part Number 321943B 01 Worldwide Technical Support and Product Information www natinst com National Instruments Corporate Headquarters 11500 North Mopac Expressway Austin Texas 78759 3504 USA Tel 512 794 0100 Worldwide Offices Australia 03 9879 5166 Austria 0662 45 79 90 0 Belgium 02 757 00 20 Brazil 011 284 5011 Canada Calgary 403 274 9391 Canada Ontario 905 785 0085 Canada Qu bec 514 694 8521 China 0755 3904939 Denmark 45 76 26 00 Finland 09 725 725 11 France 01 48 14 24 24 Germany 089 741 31 30 Greece 30 1 42 96 427 Hong Kong 2645 3186 India 91805275406 Israel 03 6120092 Italy 02 413091 Japan 03 5472 2970 Korea 02 596 7456 Mexico D F 5 280 7625 Mexico Monterrey 8 357 7695 Netherlands 0348 433466 Norway 32 27 73 00 Singapore 2265886 Spain Barcelona 93 582 0251 Spain Madrid 91 640 0085 Sweden 08 587 895 00 Switzerland 056 200 51 51 Taiwan 02 2377 1200 United Kingdom 01635 523545 For further support information see the Technical Support Resources appendix To comment on the documentation send e mail to techpubs natinst com Copyright 1998 1999 National Instruments Corporation All rights reserved Important Information Warranty Copyright Trademarks The media on which you receive National Instruments software are warranted not to fail to execute programming instruc
125. Motion I O Functions flex_configure_inhibits Configure Inhibit Outputs 4 No 282 flex_enable_home_inputs Enable Home Inputs 4 No 9 flex_enable_limits Enable Limits 5 No 382 flex_load_sw_lim_pos Load Software Limit T Yes 29 Positions flex_read_home_input_status Read Home Input Status 3 Yes 10 flex_read_home_input_status_rtn flex_read_limit_status Read Limit Status 4 Yes 383 flex_read_limit_status_rtn flex_set_home_polarity Set Home Input Polarity 4 No 8 flex_set_inhibit_momo Set Inhibit MOMO 4 No 11 flex_set_limit_polarity Set Limit Input Polarity 4 No 5 Breakpoint Functions flex_enable_bp Enable Breakpoint 4 No 322 flex_load_bp_modulus Load Breakpoint Modulus 5 Yes 59 flex_load_pos_bp Load Breakpoint Position 5 Yes 58 flex_read_breakpoint_status Read Breakpoint Status 4 Yes 387 flex_read_breakpoint_status_rtn flex_set_bp_momo Set Breakpoint Output 4 No 323 MOMO High Speed Capture Functions flex_enable_hs_caps Enable High Speed 4 No 324 Position Capture flex_read_cap_pos Read Captured Position 3 Yes 57 flex_read_cap_pos_rtn flex_read_hs_cap_status Read High Speed Capture 3 Yes 332 flex_read_hs_cap_status_rtn Status FlexMotion Software Reference Manual B 4 www natinst com Appendix B Table B 1 FlexMotion Function Summary Continued FlexMotion Functions Function Name Description Word Count Uses Vectors Command ID flex_s
126. NESS FOR A PARTICULAR PURPOSE CUSTOMER S RIGHT TO RECOVER DAMAGES CAUSED BY FAULT OR NEGLIGENCE ON THE PART OF NATIONAL INSTRUMENTS SHALL BE LIMITED TO THE AMOUNT THERETOFORE PAID BY THE CUSTOMER NATIONAL INSTRUMENTS WILL NOT BE LIABLE FOR DAMAGES RESULTING FROM LOSS OF DATA PROFITS USE OF PRODUCTS OR INCIDENTAL OR CONSEQUENTIAL DAMAGES EVEN IF ADVISED OF THE POSSIBILITY THEREOF This limitation of the liability of National Instruments will apply regardless of the form of action whether in contract or tort including negligence Any action against National Instruments must be brought within one year after the cause of action accrues National Instruments shall not be liable for any delay in performance due to causes beyond its reasonable control The warranty provided herein does not cover damages defects malfunctions or service failures caused by owner s failure to follow the National Instruments installation operation or maintenance instructions owner s modification of the product owner s abuse misuse or negligent acts and power failure or surges fire flood accident actions of third parties or other events outside reasonable control Under the copyright laws this publication may not be reproduced or transmitted in any form electronic or mechanical including photocopying recording storing in an information retrieval system or translating in whole or in part without the prior written consent of National Instruments Corpor
127. NotConfiguredError Steps rev and or counts rev in ValueMotion lines rev not loaded for this axis 21 NIMC_systemResetError System reset did not occur in maximum time allowed 22 NIMC_functionSupportError This command is not supported by this controller or operating system 23 NIMC_parameterValueError One of the parameters passed into the function has an illegal value 24 NIMC_motionOnlyError Motion command sent to an Encoder board 25 NIMC_returnDataBufferNotEmptyError The Return Data Buffer is not empty Commands that expect data returned from the controller cannot be sent until the Return Data Buffer is cleared 26 NIMC_modalErrorsReadError The Motion Error Hander flx VI discovered modal error s in the modal error stack These error s can be viewed in the Modal Error s Out Indicator terminal of this VI 27 NIMC_processTimeoutError Under Windows NT a function call made to the motion controller timed out waiting for driver access FlexMotion Software Reference Manual A 4 www natinst com Appendix A Error Codes Table A 1 Error Codes Summary Continued Error Code Symbolic Name Description 28 NIMC _insufficientSizeError The resource is not large enough to supported the specified operation 33 NIMC_badPointerError A NULL pointer has been passed into a function inappropriately 34 NIMC_wrongReturnDataError Incorrect data has been returned by the controller This data does not correspond
128. PM functions To guarantee finding the index if one exists the length of the move is automatically set to slightly greater than one encoder revolution UN Caution You must have previously load the correct counts per revolution value with the Load Counts Steps per Revolution function for the Find Index function to operate properly Upon finding the index the motor either stops at the index position or starts a new trajectory to the index position the loaded offset This index offset move is always performed at the previous loaded values of acceleration deceleration s curve and velocity A successful index search is indicated with the Index Found status You can monitor this status with the Read per Axis Status function If the index is not found during the search revolution the axis comes to a stop and indicates the failure by resetting the Index Found status Missing the index is possible for a number of reasons including an incorrectly connected encoder or an incorrect value for counts per revolution Refer to Chapter 5 Signal Connections of your motion controller user manual for more information about encoder connections and index phasing You can only execute the Find Index function on properly configured axes that are presently stopped or killed Attempting to execute the Find Index function while the axis is in motion generates a modal error For information about errors and error handling refer to Chapter 4 Software Overview of t
129. PS or RPS s National Instruments Corporation G 9 Glossary instantaneous position versus time output of a trajectory generator When stepper motors are run in closed loop mode the encoder feedback is used to verify the position of an axis when the motion ends The motion controller then commands the axis to do a final move so that it is at the desired target position Pulse Width Modulation a method of controlling the average current in a motors phase windings by varying the on time duty cycle of transistor switches The encoder line resolution times four The encoder resolution is the number of encoder lines between consecutive encoder indexes marker or Z bit If the encoder does not have an index output the encoder resolution can be referred to as lines per revolution lines per inch lines per millimeter and so on random access memory sets the position breakpoint for an encoder in relative quadrature counts treat the target position loaded as position relative to current position while making a move position relative to current position a flat cable in which the conductors are side by side read only memory non volatile memory used for storing code programs and data An axis for which rotary counts are loaded The axis moves to the target position by taking the shortest path either forward or backwards while remaining within the one revolution defined by the loaded modulo value revolutions per minute Units f
130. SOurces eee esses erecnseeeeneees Figure 4 6 Trapezoidal Trajectory with S Curve Acceleration Figure 5 1 3 D Vector Space Example eee ceseeseeeeeeeeees Figure 6 1 CircularArc Definitions 0000 eee eeeeeeeeceeeeeeeeneenee Figure 6 2 Helical Arc Definitions 0 00 ee eee ceeesecseeeeeneeeeeees Figure 6 3 Spherical Arc Pitch and Yaw Definitions Figure 6 4 Blending with Blend Factor of 1 eee Figure 6 5 Blending with Blend Factor of Q Figure 6 6 Blending with Blend Factor of 50 ms uw eee Figure 6 7 Effects of S Curve Acceleration on a Trapezoidal Trajectory Figure 6 8 Primary and Secondary Torque Limits Example Figure 6 9 Torque Offset Example ou ce eeeeceeeeeeeeeeeeeeneenes Figure 9 1 Find Home Definitions 000 eee ee ceteeeeeneeeeeeees Figure 9 2 Find Home Sequence Example cee ee eeeeeereeee FlexMotion Software Reference Manual xii www natinst com Contents Tables Table 3 1 Primary Type NaMe Sirpis onie i A R eer tees 3 2 Table 4 1 Axis Resource DS 0 cccceeeeseesssesscscsceccesesesecececececeseseseeseseseseserneeaeeeees 4 4 Table 4 2 Encoder Resource IDS orrera EE eE be ha eves 4 5 Table 4 3 ADC Resource IDS cece ceeceseesessseseececcecesesececcescecesesesessesesesesereseeaeeeses 4 6 Table 4 4 DAG R source IDS oes 05s cco ebch Race a t a oS 4 7 Table 4 5 Stepper Output Resource IDS eee eeeececeeeceeeeeeeeneeseesseesaecneenaes 4 7 Table 4 6 TV O Port Resource IDS
131. Space xPosition yPosition zPosition inputVector Purpose Loads the axis target positions for the next vector space move Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer vectorSpace u8 vector space to be controlled xPosition 132 x axis target position in counts or steps yPosition 132 y axis target position in counts or steps zPosition 132 Z axis target position in counts or steps inputVector u8 source of the data for this function Parameter Discussion vectorSpace is the vector space to be controlled xPosition yPosition and zPosition are the desired axis target positions for the next vector space move in counts servo axes or steps stepper axes Target positions can be anywhere within the 32 bit position range 23 to 23 1 The default value for position is zero 0 UN Caution Any single move is limited to 23 1 counts or steps on an axis An error will be generated if you exceed this limit by loading target position too far from the current axis positions inputVector indicates the source of the data for this function Available inputVectors include immediate OxFF or variable 0x01 through 0x78 FlexMotion Software Reference Manual 6 18 www natinst com Chapter 6 Trajectory Control Functions flex_load_vs_pos Using This Function i The Load Vector Space Position function loads up to three axis target positio
132. TSI bus After reading the latched data value the function resets the latch Use the Set I O Port Polarity function to specify the polarity and therefore the active state for latching FlexMotion Software Reference Manual 10 18 www natinst com Chapter 10 Analog amp Digital I O Functions flex_reset_encoder flex_reset_encoder Reset Encoder Position Format status flex_reset_encoder boardID encoder position input Vector Purpose Resets the position of an unmapped encoder to the specified value Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer encoder u8 encoder to be reset position i32 reset value for encoder inputVector u8 source of the data for this function Parameter Discussion encoder is encoder to be reset position is the reset value for the encoder resource You can reset position to any value in the total position range of 23 to 23 1 inputVector indicates the source of the data for this function Available input Vectors include immediate OXFF or variable 0x01 through 0x78 Using This Function The Reset Encoder Position function resets the position of the selected encoder You can reset position to zero or to any value in the 32 bit position range You can only execute this function on independent encoders that are not mapped to axes For encoders mapped to axes you should use the Reset Position function ins
133. The GREATER THAN and LESS THAN codes are also set but can be confusing after logical bitwise operations Example If the values in variablel and variable2 are 0x0000 1234 and 0x0000 EEEE respectively the result of the bitwise AND is 0x0000 0224 which is NOT EQUAL to zero National Instruments Corporation 12 33 FlexMotion Software Reference Manual Chapter 12 Onboard Programming Functions flex_div_vars flex_div_vars Divide Variables Format status flex_div_vars boardID variable1 variable2 return Vector Purpose Divides the value in the first variable by the value in the second variable and returns the result Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer variable1 u8 dividend variable2 u8 divisor return Vector u8 destination for the result Parameter Discussion variablel is the variable holding of the dividend Valid variables are 0x01 through 0x78 variable2 is the variable holding the divisor Valid variables are 0x01 through 0x78 returnVector indicates the desired destination for the result of this function Available return Vectors include return data to the host OxFF return data to a variable 0x01 through 0x78 and don t return data 0 Using This Function The Divide Variables function divides the value in the first variable by the value in the second variable and returns the result to the destination specified b
134. Threshold is the Run Stop threshold velocity in counts sample period servo and closed loop stepper axes or steps sample period open loop stepper axes The range for this parameter is default to 32 767 sample periods inputVector indicates the source of the data for this function Available inputVectors include immediate OXFF or variable 0x01 through 0x78 FlexMotion Software Reference Manual 5 28 www natinst com Chapter 5 Axis amp Resource Configuration Functions flex_load_vel_tc_rs Using This Function The Configure Velocity Filter function loads the time constant of the digital single pole lowpass filter used to average the instantaneous axis velocity It also sets the velocity threshold above which an axis will be considered running Both parameters have time units of update sample periods and are affected by the update rate set in the Enable Axes function The velocity filter improves the resolution of the velocity reported in the Read Velocity and Read Velocity in RPM functions by averaging the measured counts or steps per sample over a programmable number of update sample periods This filtering minimizes the quantization noise inherent in any discrete time velocity measurement of low speeds Due to the aliasing effects of polling from the host computer it is often not possible to remove quantization noise after velocity data has been gathered Sy Note Velocity quantization noise is a measurement only phenomenon and does no
135. VI package includes a complete motion VI library with examples for use with Lab VIEW National Instruments Corporation 1 1 FlexMotion Software Reference Manual Chapter 1 Introduction What You Need to Get Started To set up and use your FlexMotion software you need the following Q FlexMotion software Q FlexMotion hardware Q FlexMotion Software Reference Manual Installing a FlexMotion Controller Use Measurement amp Automation Explorer to configure and verify your FlexMotion controllers Refer to the FlexMotion release notes and the Explore Motion Control online help for detailed information regarding FlexMotion controller installation and configuration In addition refer to your motion controller user manual for information about I O jumper settings and bus address DIP switches for ISA boards Software Programming Choices You have several options to choose from when programming with your National Instruments FlexMotion software You can use National Instruments application software such as LabVIEW Bridge VIEW LabVIEW for Industrial Automation or LabWindows CVI or third party application development environments ADEs such as Borland C C Microsoft Visual C C Microsoft Visual Basic or any other Windows based compiler that can call into Windows DLLs for use with the FlexMotion software National Instruments Application Software LabVIEW and Bridge VIEW feature interactive graphics a state of t
136. Valid feedback resources include encoders 0x21 through 0x26 on FlexMotion 6C controllers and 0x21 through 0x24 on 7344 controllers and ADC channels 0x51 through 0x58 on FlexMotion 6C controllers and 0x51 through 0x54 on 7344 controllers Enter 0 zero to configure no primary feedback resource secondaryFeedback is the number for an optional secondary feedback resource being mapped to the axis If a secondary feedback resource is mapped it is used for velocity feedback Kv Valid feedback resources include encoders 0x21 through 0x26 on FlexMotion 6C controllers and 0x21 through 0x24 on 7344 controllers and ADC channels FlexMotion Software Reference Manual 5 2 www natinst com Chapter 5 Axis amp Resource Configuration Functions flex_config_axis 0x51 through O0x580n FlexMotion 6C controllers and 0x51 through 0x54 on 7344 controllers Enter 0 zero to configure no secondary feedback resource primaryOutput is the number for the primary output resource being mapped to the axis This is the main command output Valid output resources include DACs 0x31 through 0x36 on FlexMotion 6C controllers and 0x31 through 0x34 on 7344 controllers and Step Outputs 0x45 through 0x46 on FlexMotion 6C controllers and 0x41 through 0x44 on 7344 controllers Enter 0 zero to configure no primary output resource secondaryOutput is the number for an optional secondary output resource being mapped to the axis This is an optional command output Valid
137. Vector u8 destination for the result Parameter Discussion variablel is the variable holding of the first operand Valid variables are 0x01 through 0x78 variable2 is the variable holding the second operand Valid variables are 0x01 through 0x78 returnVector indicates the desired destination for the result of this function Available return Vectors include return data to the host OxFF return data to a variable 0x01 through 0x78 and don t return data 0 Using This Function The Multiply Variables function multiplies the values in the two variables and returns the result to the destination specified by the returnVector returnVector value variablel value x variable2 value The result can be returned to a new variable or one of the two input variables returned to the host computer or thrown away In all cases the condition codes are set according to the resulting value GREATER THAN LESS THAN or EQUAL to zero B Note Be careful when multiplying two large values The result can overflow and wrap around An error is not generated when an overflow occurs FlexMotion Software Reference Manual 12 38 www natinst com Chapter 12 Onboard Programming Functions flex_not_var flex_not_var Invert Variable Format status flex_not_var boardID variable1 return Vector Purpose Performs a bitwise inversion NOT on the value in a variable and returns the result Parameters Input Nam
138. XXX XXX XXX XXX XXX XXX XXX XXX XXX XXX XXX Enc 4 Enc 3 Enc 2 Enc XXX For D1 through D4 1 Capture occurred 0 Capture pending or never enabled ay Note High speed capture inputs are only available on encoders through 4 resources 0x21 through 0x24 Using This Function The Read High Speed Capture Status function allows you to see if a position capture has occurred or is pending When you enable a high speed capture input the corresponding status bit is reset to indicate that the capture is pending When the position capture occurs its status bit is set to True 1 For information about retrieving the captured position value see the Read Captured Position function The high speed capture circuitry is also used during Find Index execution When an index is found successfully the capture status for the corresponding encoder and axis is set to True as a side effect Executing the Find Index function automatically leaves the corresponding high speed capture input disabled after the index is found National Instruments Corporation 8 39 FlexMotion Software Reference Manual Chapter 8 Motion 1 0 Functions flex_read_hs_cap_status and flex_read_hs_cap_status_rtn Example Executing the Read High Speed Capture Status function with axisOrEncoder 0 returns highSpeedCaptureStatus 0x0024 which corresponds to the following bitmap D15 D14 D13 D12 Dil D10 D9 D8 D7 D6 D5 D4 D3 D
139. _gpio flex_set_port_momo Set I O Port MOMO set_io_output flex_set_bp_momo Set Breakpoint Output MOMO set_io_pol flex_set_hs_cap_pol Set High Speed Capture Polarity set_lim_pol flex_set_limit_polarity flex_set_home_polarity Set Limit Input Polarity Set Home Input Polarity set_loop_mode flex_set_stepper_loop_mode Set Stepper Loop Mode set_portc_dir flex_set_port_dir Set I O Port Direction set_pos_mode set_rs_pulse set_scale_seq flex_set_op_mode flex_config_mc_criteria Set Operation Mode Configure Move Complete Criteria set_step_mode_pol flex_config_step_mode_pol Configure Step Mode amp Polarity set_stop_mode flex_stop_motion Stop Motion start_motion flex_start Start Motion stop_motion flex_stop_motion Stop Motion store_elc store_steps_rev flex_load_counts_steps_rev flex_load_counts_steps_rev Load Counts Steps per Revolution Load Counts Steps per Revolution trig_buff_delim flex_wait_on_condition Wait on Condition trigger_io flex_run_prog Run Program FlexMotion Software Reference Manual www natinst com Default Parameters This appendix lists all parameters that have default values When you execute the Clear Power Up Status function after a power up reset the FlexMotion controller is automatically reinitialized to a known state and all important configuration
140. _home_inputs flex_enable_home_inputs Enable Home Inputs Format status flex_enable_home_inputs boardID homeMap Purpose Enables disables the home inputs Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer homeMap ul6 bitmap of home inputs to enable Parameter Discussion homeMap is the bitmap of home inputs to enable D15 D14 D13 D12 Dil D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO 0 0 0 0 0 0 0 0 0 Home6 Home5 Home4 Home3 Home2_ Home 1 0 For D1 through D6 1 Home input enabled 0 Home input disabled default Using This Function The Enable Home Inputs function enables disables any combination of axis home inputs An enabled home input causes a halt stop on the axis when the input becomes active You can configure each home input to be active low inverting or active high noninverting with the Set Home Input Polarity function You can also use a home input as a general purpose input and read its status with the Read Home Input Status function Home inputs are an enhancement on the FlexMotion controller and are not required for basic motion control You can operate all motion control functions without enabling or using the home inputs except the Find Home function which requires enabled limit and home inputs for operation FlexMotion Software Reference Manual 8 4 www natinst com Chapter 8 Mo
141. _pos board ID axis forwardLimit reverseLimit input Vector Purpose Loads the forward and reverse software limit positions for an axis Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer axis u8 axis to be controlled forwardLimit 132 forward software limit position in counts or steps reverseLimit 132 reverse software limit position in counts or steps inputVector u8 source of the data for this function Parameter Discussion axis is the axis to be controlled forwardLimit is the forward software limit position in counts servo axes or steps stepper axes Software limit positions can be anywhere within the 32 bit position range 23 to 23 1 The default value for the forward software limit is 2 1 counts steps reverseLimit is the reverse software limit position in counts servo axes or steps stepper axes Software limit positions can be anywhere within the 32 bit position range 23 to 23 1 The default value for the reverse software limit is 2 counts steps ays Note The forwardLimit cannot be less than the reverseLimit inputVector indicates the source of the data for this function Available input Vectors include immediate OxXFF or variable 0x01 through 0x78 National Instruments Corporation 8 9 FlexMotion Software Reference Manual Chapter 8 Motion 1 0 Functions flex_load_sw_lim_pos Using This Fun
142. _read_limit_status_rtn 8 13 to 8 14 object management functions flex_read_description_rtn 12 28 flex_read_registry_rtn 12 29 to 12 30 onboard programming functions flex_read_program_status 12 13 to 12 14 programming considerations 3 9 to 3 10 trajectory control functions flex_read_axis_status 6 20 to 6 23 flex_read_axis_status_rtn 6 20 to 6 23 flex_read_blend_status 6 24 to 6 26 flex_read_blend_status_rtn 6 24 to 6 26 flex_read_follow_err 6 27 to 6 28 flex_read_follow_err_rtn 6 27 to 6 28 flex_read_mcs_rtn 6 29 to 6 30 flex_read_pos 6 31 to 6 32 flex_read_pos_rtn 6 31 to 6 32 flex_read_rpm 6 33 to 6 34 flex_read_rpm_rtn 6 33 to 6 34 flex_read_trajectory_status 6 35 to 6 38 FlexMotion Software Reference Manual Index flex_read_trajectory_status_rtn 6 35 to 6 38 flex_read_velocity 6 39 to 6 40 flex_read_velocity_rtn 6 39 to 6 40 flex_read_vs_pos 6 41 to 6 42 flex_read_vs_pos_rtn 6 41 to 6 42 requirements for getting started 1 2 reset functions flex_reset_defaults function 13 14 flex_reset_encoder function 10 19 flex_reset_pos function 6 43 to 6 44 resource configuration functions See axis amp resource configuration functions resource IDs ADC resource IDs table 4 6 axis resource IDs table 4 4 DAC resource IDs table 4 7 encoder resource IDs table 4 5 T O port resource IDs table 4 8 purpose and use 4 2 stepper output resource IDs table 4 7 vector space
143. _rtn function 6 27 to 6 28 flex_read_home_input_status function 8 11 to 8 12 flex_read_home_input_status_rtn function 8 11 to 8 12 flex_read_hs_cap_status function 8 38 to 8 40 flex_read_hs_cap_status_rtn function 8 38 to 8 40 flex_read_limit_status function 8 13 to 8 14 flex_read_limit_status_rtn function 8 13 to 8 14 flex_read_mcs_rtn function 6 29 to 6 30 flex_read_port function 10 17 to 10 18 flex_read_port_rtn function 10 17 to 10 18 flex_read_pos function 6 31 to 6 32 flex_read_pos_rtn function 6 31 to 6 32 flex_read_program_status function 12 13 to 12 14 flex_read_rpm function 6 33 to 6 34 flex_read_rpm_rtn function 6 33 to 6 34 flex_read_steps_gen function 6 97 to 6 98 flex_read_steps_gen_rtn function 6 97 to 6 98 flex_read_target_pos function 6 99 to 6 100 flex_read_target_pos_rtn function 6 99 to 6 100 flex_read_trajectory_data function 6 101 to 6 102 www natinst com flex_read_trajectory_data_rtn function 6 101 to 6 102 flex_read_trajectory_status function 6 35 to 6 38 flex_read_trajectory_status_rtn function 6 35 to 6 38 flex_read_var function 12 41 to 12 42 flex_read_var_rtn function 12 41 to 12 42 flex_read_velocity function 6 39 to 6 40 flex_read_velocity_rtn function 6 39 to 6 40 flex_read_vs_pos function 6 41 to 6 42 flex_read_vs_pos_rtn function 6 41 to 6 42 flex_reset_defaults function 13 14 flex_reset_encoder function 10 19 flex_reset_pos function
144. a is the bitmap that defines the criteria for the move complete status to be True D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 DS D4 D3 D2 DI DO 0 0 0 0 0 0 0 0 0 0 0 In Delay Stop MOff PC Pos DO Profile Complete PC 1 Profile must be complete default 0 N A cannot reset D1 Motor Off MOff 1 Motor must be off 0 Motor off status not considered default FlexMotion Software Reference Manual 5 6 www natinst com Chapter 5 Axis amp Resource Configuration Functions flex_config_mc_criteria D2 Stop 1 Run Stop must be stopped 0 Run Stop not considered default D3 Delay 1 Move complete only after delay 0 Move complete not delayed default D4 In Position In Pos 1 Must be within deadband of target position 0 Ignore in position status default The effect of the criteria parameter can be summarized with the following equation Move Complete Profile Complete OR Motor Off AND Run Stop Stop AND Delay Done AND I position target position lt deadband where optional criteria deadband is the tolerance around the target position If selected the move is only considered complete when position target position lt deadband Deadband has a range of 0 default to 32 767 delay is a programmable settling time delay in ms You can program it from 0 default to 255 ms minPulse is the minimum time in m
145. abled axes If motion on any axis involved in a Start is illegal due to a limit or other error condition the entire Start Motion function is not executed and a modal error is generated None of the axes are started or updated For information about errors and error handling refer to Chapter 4 Software Overview Example 1 To execute a multi axis start on axes 2 and 6 call the Start Motion function with the following parameters axisOrVectorSpace 0 axisOr VSMap 0x44 The axisOrVSMap value of 0x44 corresponds to the following bitmap D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO 0 0 0 0 0 0 0 0 0 Axis Axis Axis Axis Axis Axis 0 6 5 4 3 2 1 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 Example 2 To start motion on vector space 2 call the Start Motion function with the following parameters axisOrVectorSpace 0x12 axisOr VSMap Don t care National Instruments Corporation 7 7 FlexMotion Software Reference Manual Chapter 7 Start amp Stop Motion Functions flex_stop_motion flex_stop_motion Stop Motion Format status flex_stop_motion boardID axisOrVectorSpace stopType axisOrVSMap Purpose Stops motion on a single axis single vector space multiple axes or multiple vector spaces Three types of stops can be executed decelerate to stop halt stop and kill stop Parameters Input Name Type Description boardID u8 assigned by Measure
146. actor value in milliseconds and PIDrate is in microseconds 62 5 125 188 250 312 375 438 or 500 If s gt 32 767 it is coerced to 32 767 sample periods At a PIDrate of 500 us the maximum value of the positive blend factor is 16 383 ms and at a PIDrate of 250 us the maximum value is 8 192 ms Velocity A Time 0 Time 50 Second Move Time Figure 6 6 Blending with Blend Factor of 50 ms If the first move has already completed when the Blend Motion function is executed the second move will still wait the dwell time before starting You can load blend factors to individual axes or to a vector space for coordinated blending of all axes in the vector space When sent to a vector space the blend factor is broadcast to all axes in the vector space to change the per axis blend factors If you later want to operate an axis independently with a different blend factor you must execute the Load Blend Factor function again for that axis 3 Note All axes in a vector space must have the same blend factor If the blend factors are different on each axis when you execute a Blend Motion function an error is generated FlexMotion Software Reference Manual 6 78 www natinst com flex_load_pos_modulus Chapter 6 Trajectory Control Functions flex_load_pos_modulus Load Position Modulus Format status flex_load_pos_modulus board ID axis positionModulus inputVector Purpose Loads th
147. ad_rpm and PLEX fead TPM Tsere n a a e ae 6 33 flex_read_trajectory_status and flex read traj ctory statis rtn nuocriieoe iien e A E E EE EEA 6 35 flex_read_velocity and flex read velocity Tt ocna a e a e E e e e es 6 39 flex_read_vs_pos and flex read Vs POS TUM eses e a E hho E the out E EE EREE AEE 6 41 INNES E A E OSPA E EET A E EE 6 43 flex set op modeenan E a e E E cantons r Ee 6 45 flex wait for blend complete iisrorinnrn airain eire i EE EE ERE EER 6 49 flex_wait_for_move_complete eeeeceseecsseeenceceececseceececeseeesaeceaceceeeeaeeeeeeesaeeeneeesees 6 52 ATC SE UMGIOMS 22 E ENESE TE E a E aioe ae est AE 6 55 i sy oad C26 Mn 1 O81 ce 9X om a ae oo a a E EEES ESA E Eoas 6 56 flex load helical ar ne E E E Te 6 58 flex sloadspheriCal ateos a eana ra a a E A E 6 60 Gearing FUNCHODS oc c ssscs deci saeasisseschaessesescdeesoseeescobcdgsces ie RESET Ero tavtesscduesoessstasch pe EER aa 6 63 flex confie PEAT MASEL onor e Ee E e E E Wubenscte cones 6 64 HEX Enable Sari gs v3 os css iynesoers i a eE doves E EE EET 6 66 flex_enable_gearing single_AXiS oo lee cece ceeceeeeeeceseeeeeeseeesecsaeeaeenaes 6 68 fl x AO AG AP CAM TALC eoin eens shane Fas css oa otek dove dive A E EEEE EE ees 6 70 Advanced Trajectory Functions 0 0 eee eeececseesseceeceseceeceseeseceeeeeeeeeeeseaeeseecaeesaeraee 6 72 PLEX lt ACGUITE tra ECtOrys dataa micii iener eier a e E E REE 6 73 flex Jl d Pase veba a a e wes WER aE oss 6 75
148. ad_velocity_override Using This Function The Load Velocity Override function scales the operating velocity on an axis or vector space from 0 to 150 Velocity override is not double buffered The function takes effect immediately and does not require a Start Motion or Blend Motion function execution to change the operating velocity All velocity changes use the loaded values of acceleration deceleration and s curve to smoothly transition the velocity to its new value Velocity override scales velocity in all operation modes on all single axis and vector space moves including 2D and 3D linear interpolation and circular helical and spherical arcs You can load velocity override to individual axes or to a vector space for coordinated velocity scaling When sent to a vector space the velocity override is broadcast to all axes in the vector space to change the per axis overrides If you later want to operate an axis independently with a different velocity override you must execute the Load Velocity Override function again for that axis nye Note Typically all axes in a vector space should have the same velocity override If axes have different velocity overrides the vector move cannot function as expected This mode is legal however and will not generate an error Once loaded velocity override remains in effect until changed by another call to this function All subsequent moves will be at velocities scaled by the most recent override perce
149. aded with this function is the maximum move velocity Actual velocity attainable is determined by many factors including PID tuning length of move acceleration and deceleration values and physical constraints of the amplifier motor mechanical system You can also load velocity in counts s or steps s by calling the Load Velocity function National Instruments Corporation 6 11 FlexMotion Software Reference Manual Chapter 6 Trajectory Control Functions flex_load_rpsps flex_load_rpsps Load Accel Decel in RPS sec Format status flex_load_rpsps boardID axisOrVectorSpace accelerationType RPSPS inputVector Purpose Loads the maximum acceleration and or deceleration value for an axis or vector space in RPS sec Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer axisOrVectorSpace u8 axis or vector space to be controlled accelerationType ul6 selector for acceleration deceleration or both RPSPS f64 acceleration value in revolutions s s inputVector u8 source of the data for this function Parameter Discussion axisOrVectorSpace is the axis or vector space to be controlled accelerationType is the selector for loading acceleration deceleration or both acceleration and deceleration default accelerationType Constant accelerationType Value NIMC_BOTH 0 default NIMC_ACCELERATION 1 NIMC_DECELERATION 2 acceleration
150. ajectory Control Functions flex_check_blend_complete_status For D1 through D6 1 Blend must be complete on specified axis 0 Blend can be either complete or not complete on specified axis don t care When checking multiple vector spaces axisOrVectorSpace 0x10 pis D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO For D1 through D3 1 Blend must be complete on specified vector space 0 Blend can be either complete or not complete on specified vector space don t care To check for blend complete on a single axis or vector space set the axisOrVectorSpace selector to the desired axis or vector space The axisOr VSMap bitmap is ignored To check for blend complete on multiple axes the axisOrVectorSpace selector is set to 0 zero and the axisOrVSMap bitmap defines the axes to be checked They must all be blend complete for the blendComplete output to be true Similarly to check for blend complete on multiple vector spaces the axisOrVectorSpace selector is set to 0x10 and the axisOr VSMap bitmap defines the vector spaces to be checked blendComplete indicates whether or not the blend is complete on the axes or vector spaces specified 1 Blend complete 0 Blend not complete Using This Function This utility function is built on top of the Read Blend Status function and is provided for your programming convenience Instead of decoding the output of the
151. al G 4 a device that translates mechanical motion into electrical signals used for monitoring position or velocity The number of encoder lines between consecutive encoder indexes marker or Z bit If the encoder does not have an index output the encoder resolution can be referred to as lines per revolution First in first out memory buffer the first data stored is the first data sent to the acceptor FIFOs are often used on DAQ devices to temporarily store incoming or outgoing data until that data can be retrieved or output For example an analog input FIFO stores the results of A D conversions until the data can be retrieved into system memory a process that requires the servicing of interrupts and often the programming of the DMA controller This process can take several milliseconds in some cases During this time data accumulates in the FIFO for future retrieval With a larger FIFO longer latencies can be tolerated In the case of analog output a FIFO permits faster update rates because the waveform data can be stored on the FIFO ahead of time This again reduces the effect of latencies associated with getting the data from system memory to the DAQ device indicates the control loop parameter gains PID gains for a given axis a type of signal conditioning that allows you to filter unwanted signals from the signal you are trying to measure non volatile memory used for storing code programs and data Following error is the dif
152. also use the signals as general purpose I O Table 4 1 lists the resource IDs for axes Table 4 1 Axis Resource IDs Resource Name Resource ID Axis Control 0 0x00 Axis 1 1 0x01 Axis 2 2 0x02 Axis 3 3 0x03 Axis 4 4 0x04 Axis 5 FlexMotion 6C only 5 0x05 Axis 6 FlexMotion 6C only 6 0x06 Functions that can operate on multiple axes simultaneously for example Read Blend Status and Start Motion can take the axis control 0 as their resource parameter Motion Resources There are four types of motion resources on the FlexMotion controller encoders ADC channels DAC outputs and stepper outputs In general functions relating to motion resources for example Read DAC and Read Steps Generated can be sent to the resource itself or the axis the resource is mapped to 3 Note Once mapped to an axis all features and functions of a motion resource are available as part of the axis It is not necessary to remember or use the resource number directly when accessing these features as part of the axis Resources are referenced by axis number once assigned to that axis Encoders Encoder resources are primarily used for position feedback on servo and closed loop stepper axes When encoder resources are not mapped to an axis for use as axis feedback you can use them for any number of other functions including position or velocity monitoring as digital FlexMotion Software Referenc
153. ammed constant velocity You can change velocity on the fly and all existing acceleration deceleration and s curve limits are applied to the new velocity in a trapezoidal velocity adjustment You can interrupt motion by executing a Stop Motion function Motion is automatically halt stopped if an enabled limit or home input signal becomes active This mode is useful for jogging simple speed control and velocity profiling regular updating of velocity for continuous path contouring applications Move Blending FlexMotion can blend moves together with a programmable blend factor The FlexMotion Infinite Trajectory Control Processing allows you to automatically and smoothly blend any move type into any other move without stopping the axis or axes involved For more information refer to the Blend Motion function in Chapter 7 Start amp Stop Motion Functions National Instruments Corporation 4 15 FlexMotion Software Reference Manual Chapter 4 Software Overview Electronic Gearing With electronic gearing you can slave both position and velocity on one or more axes to a master position velocity source for synchronous ratio based motion The master can be the feedback of an axis an independent encoder input ADC channel or even the trajectory generator output of another axis A slave axis operates in a special mode that calculates an instantaneous position command value that is a ratio of the master axis position Because this ca
154. ample An application requires breakpoints every 2 000 counts starting at 500 counts To accomplish this you load a breakpoint position of 500 with the Load Breakpoint Position function and a breakpoint modulus of 2 000 The modulus defines repeat periods from 0 to 1 999 2 000 to 3 999 and so on and breakpoints at 500 2 500 4 500 and so on It also defines similar repeat periods in the negative direction 2 000 to 1 4 000 to 2 001 and so on with breakpoints at 1 500 3 500 and so on If the instantaneous encoder position is 2 210 counts when you execute the Enable Breakpoint function in modulo mode the breakpoint at 2 500 counts is enabled If you re enable the breakpoint when the instantaneous encoder position is 3 200 the breakpoint at 2 500 is again enabled because the encoder was still in the 2 000 to 3 999 repeat period 7344 Modulo Breakpoints On 7344 controllers the breakpoint hardware and firmware has been enhanced to support true modulo breakpoints When you enable a modulo breakpoint on a 7344 controller two breakpoint positions one in front and one behind the present encoder position are enabled You no longer need to keep track of which repeat period you are in to know which of the two possible breakpoint positions has been enabled Example An application requires breakpoints every 2 000 counts offset at 500 counts 4 500 2 500 500 1 500 3 500 and so on To accomplish this you loa
155. and flex_read_cap_pos_rtn capturedPosition is the position value captured when the corresponding high speed capture input went active Using This Function The Read Captured Position function returns the value in the high speed capture register of the axis or encoder selected This value was captured when an enabled high speed capture input went active High speed capture functionality is performed by the encoder resources themselves When this function is sent to an axis the value returned is actually from the mapped encoder resource High speed inputs are only available on the FPGA encoder resources 0x21 through 0x24 Refer to the Enable High Speed Position Capture and Read High Speed Capture Status functions for more information on the high speed capture inputs and typical applications National Instruments Corporation 8 37 FlexMotion Software Reference Manual Chapter 8 Motion 1 0 Functions flex_read_hs_cap_status and flex_read_hs_cap_status_rtn flex_read_hs_cap_status and flex_read_hs_cap_status_rtn Read High Speed Capture Status Format status flex_read_hs_cap_status boardID axisOrEncoder returnVector status flex_read_hs_cap_status_rtn boardID axisOrEncoder highSpeedCaptureStatus Purpose Reads the high speed position capture status for all axes or encoders Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer
156. ant with the Configure Velocity Filter function reduces quantization noise in the threshold status but at the expense of increasing threshold status latency Velocity threshold is typically used to monitor the acceleration and deceleration trajectory periods to see when or if an axis is up to speed You can then change PID tuning or other parameters as a function of velocity National Instruments Corporation 6 81 FlexMotion Software Reference Manual Chapter 6 Trajectory Control Functions flex_load_scurve_time flex_load_ scurve_time Load S Curve Time Format status flex_load_scurve_time boardID axisOr VectorSpace sCurveTime inputVector Purpose Loads the s curve time for an axis or vector space Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer axisOrVectorSpace u8 axis or vector space to be controlled sCurveTime ul6 smoothing time in update sample periods inputVector u8 source of the data for this function Parameter Discussion axisOrVectorSpace is the axis or vector space to be controlled sCurveTime is the time in update sample periods over which the acceleration profile is smoothed as it transitions from zero to the programmed value and back to zero The s curve range is from to 32 767 with a default of 1 sample period inputVector indicates the source of the data for this function Available inputVectors include immediate OxFF or
157. ap of axes or vector spaces to be started It is only required when multiple axes or vector spaces are selected with the axisOrVectorSpace parameter When starting axes axisOrVectorSpace 0 D15 D14 D13 D12 Dil D10 D9 D8 D7 D6 D5 D4 D3 D2 DI DO 0 0 0 0 0 0 0 0 0 Axis Axis Axis Axis Axis Axis 0 6 5 4 3 2 1 For D1 through D6 1 Start axis 0 Do not start axis National Instruments Corporation 7 5 FlexMotion Software Reference Manual Chapter 7 Start amp Stop Motion Functions flex_start When starting vector spaces axisOrVectorSpace 0x10 D15 D14 D13 D12 Dil D10 D9 D8 D7 D6 DS D4 D3 D2 D1 DO For D1 through D3 1 Start vector space 0 Do not start vector space To start a single axis or vector space set the axisOrVectorSpace selector to the desired axis or vector space The axisOr VSMap bitmap is ignored To start multiple axes the axisOrVectorSpace selector is set to 0 zero and the axisOrVSMap bitmap defines the axes to be started Similarly to start multiple vector spaces the axisOrVectorSpace selector is set to 0x10 and the axisOr VSMap bitmap defines the vector spaces to be started Sy Note It is not possible to combine the start of an axis and the start of a vector space in a single use of this function To accomplish this create a single axis vector space and then execute a multi vector spac
158. application Contents About This Manual Conventions Used in This Manual cee eescesseceseecsseeenceceeeecsecececaeeeaeeceeeeceeeeneennees XV Related Documentations ssices ccscscsesisuecs oevungecd waste vb avacesoaenaneiassdeteode ss N A E E E xvi Chapter 1 Introduction About the FlexMotion Software s sessesesenseesseeseessessersstsstestessesstessrsseesressrssresersseesresees 1 1 What You Need to Get Started inaa naa a E ae E e EEEE aai 1 2 Installing a FlexMotion Controller sseeeseseeeesseeeeeeresrssrsrssterrsteersrrererrnerrssereesreresreee 1 2 Software Programming Choices ssesessesessesresssreereesresesestesrtrssrertsrenterenserrnsereeseeresreet 1 2 National Instruments Application Software sseesseseeeeereesssresrseesrsreserreeerees 1 2 FlexMotion Language Support eessssessssseesesereserrsrersseerrseesrsrerertesrertnentssrntesrnsesresrsets 1 3 Chapter 2 Building Applications with the FlexMotion Software Library The FlexMotion Windows Libraries sseeeseeesseseseesssrerssrerrsresrrresrertnenrssreresreserresrsees 2 1 Creating a 32 Bit Windows Application eesssessessesesssreseseesrsesrsresrertsseerssreresrsserrrersees 2 2 Creating a 32 Bit LabWindows CVI Application essseeeseseeesseeerereereereee 2 2 Creating a 32 Bit Microsoft or Borland C C Application ssseeeseeeeseeeee 2 2 Creating a 32 Bit Visual Basic Application esesseeeseseeereseeesersrrersseereseere
159. ata generated by this function Available return Vectors include return data to the host OxFF return data to a variable 0x01 through 0x78 and don t return data 0 Sy Note The suffix _rtn on the function indicates that the data should be returned to the host When this calling convention is used no returnVector is required National Instruments Corporation 6 41 FlexMotion Software Reference Manual Chapter 6 Trajectory Control Functions flex_read_vs_pos and flex_read_vs_pos_rtn xPosition yPosition and zPosition are the positions in quadrature counts for servo axes or steps for stepper axes of the three axes in the vector space For vector spaces with less than three axes zero 0 is returned on the unused axes Using This Function The Read Vector Space Position function returns the instantaneous positions of the axes in the specified vector space For servo axes it returns the primary feedback position in counts For open loop stepper axes it returns the number of steps generated For closed loop stepper axes it converts the primary feedback position from counts to steps and then returns the value in steps Closed loop stepper axes require correctly loaded values of steps per revolution and counts per revolution to function correctly Note For closed loop axes this function always returns the position of the primary feedback resource FlexMotion Software Reference Manual 6 42 www natinst com flex_reset_pos Chap
160. atchType parameters are not required and their values are ignored You set resource equal to the desired program number to test The balance of the conditions in this group test status bitmaps and function similar to each other as described in the remainder of this section The mustOn mustOff and matchType parameters work together to define a bitmap of True and False bits that must be matched to satisfy the condition The matchType parameter allows you to select between an OR match where any matching bit is sufficient and an AND match where all status bits must match the True False bitmap defined by mustOn and mustOff Using the MustOn MustOff protocol gives you tri state control over each match bit True False or Don t care A one 1 in a bit location of the MustOn bitmap sets the match bit to True while a one 1 in the corresponding location of the MustOff bitmap resets the match bit to False A zero 0 in either bitmap has no affect so leaving both the MustOn and MustOff bits at zero defines the bit as Don t care If you set both the MustOn and MustOff bits to one 1 it is interpreted as a MustOn condition and the match bit is set to True The NIMC_CONDITION_LIMIT_INPUT_ACTIVE and NIMC_CONDITION_SOFTWARE_LIMIT_ACTIVE conditions create a combined status bitmap where if either the forward or reverse limit is active the bit is True Example To perform a conditional jump to label 99 if either axis 3 is move complete or axis 5 i
161. ate OxXFF and the API includes a second _ rtn version for all Read functions This version automatically retrieves the data from the RDB after requesting it and returns it by reference to the output parameter W Note The suffix _rtn on the function indicates that the data should be returned to the host When this calling convention is used no return Vector is required For information about the RDB refer to the Communication between the Host Computer and the FlexMotion Controller section of this chapter National Instruments Corporation 4 11 FlexMotion Software Reference Manual Chapter 4 Software Overview Onboard Variables FlexMotion supports 120 general purpose variables 0x01 through 0x78 for use in onboard programs Variables are 32 bits wide and can hold either signed i32 or unsigned u32 values Variables can be referenced in input and return vector parameters Data Operations functions use variables exclusively for input operands and the output result In general most functions have a single data parameter that fits into a single 32 bit variable If the function uses only a 16 bit data value it is right shifted within the 32 bit variable Some functions with input or return vectors have more than one data parameter however As a general rule each parameter regardless of size requires it own variable For these functions the vector points to the first variable in a sequential group of variables Parameters are then as
162. ation Bridge VIEW CVI FlexMotion LabVIEW nat inst com National Instruments and RTSI are trademarks of National Instruments Corporation Product and company names mentioned herein are trademarks or trade names of their respective companies WARNING REGARDING MEDICAL AND CLINICAL USE OF NATIONAL INSTRUMENTS PRODUCTS National Instruments products are not designed with components and testing for a level of reliability suitable for use in or in connection with surgical implants or as critical components in any life support systems whose failure to perform can reasonably be expected to cause significant injury to a human Applications of National Instruments products involving medical or clinical treatment can create a potential for death or bodily injury caused by product failure or by errors on the part of the user or application designer Because each end user system is customized and differs from National Instruments testing platforms and because a user or application designer may use National Instruments products in combination with other products in a manner not evaluated or contemplated by National Instruments the user or application designer is ultimately responsible for verifying and validating the suitability of National Instruments products whenever National Instruments products are incorporated in a system or application including without limitation the appropriate design process and safety level of such system or
163. ation for the return data Output Name Type Description ADCValue il6 the converted analog value Parameter Discussion ADC is the Analog to Digital Converter channel to be read Valid ADC resources are 0x51 through 0x58 return Vector indicates the desired destination for the return data generated by this function Available return Vectors include return data to the host OxFF return data to a variable 0x01 through 0x78 and don t return data 0 3 Note The suffix _rtn on the function indicates that the data should be returned to the host When this calling convention is used no returnVector is required ADCValue is the signed 12 bit value from the ADC channel ADCValue is from 2 048 to 2 047 for the 5 V and 10 V ranges and 0 to 4 096 for the 0 to 5 V and 0 to 10 V ranges National Instruments Corporation 10 13 FlexMotion Software Reference Manual Chapter 10 Analog amp Digital I O Functions flex_read_adc and flex_read_adc_rtn The voltage range is set through the Set ADC Range function for 7344 controllers and is always 10 V for FlexMotion 6C controllers Using This Function The Read ADC function returns the converted voltage from any of the analog input channels You can only read values from channels that have been either directly enabled by the Enable ADCs function or automatically enabled by being mapped to an enabled axis For an ADC channel mapped to an axis this function returns the act
164. ator 2 For for two axes with identical resolution setting a gear ratio of 3 2 results in the slave axis rotating three revolutions for every two revolutions of the master National Instruments Corporation 6 71 FlexMotion Software Reference Manual Chapter 6 Trajectory Control Functions Advanced Trajectory Functions Advanced Trajectory Functions This subsection contains detailed descriptions of advanced trajectory functions These functions are useful in special applications and showcase some of FlexMotion s power and flexibility Included in this section are the functions to acquire time sampled position and velocity data into a large onboard buffer and then later read it out for analysis and display These functions implement a digital oscilloscope that is useful during system setup PID tuning and general motion with data acquisition synchronization These functions are arranged alphabetically by function name As a quick reference a summary of the entire FlexMotion function API is in Appendix B FlexMotion Functions FlexMotion Software Reference Manual 6 72 www natinst com Chapter 6 Trajectory Control Functions flex_acquire_trajectory_data flex_acquire_trajectory_data Acquire Trajectory Data Format status flex_acquire_trajectory_data boardID axisMap numberOfSamples timePeriod Purpose Acquires time sampled position and velocity data on multiple axes Parameters Input Name Typ
165. atus read_csr flex_read_csr_rtn Read Communication Status read_encoder read_encoder_rdb read_gpio read_gpio_rdb flex_read_encoder flex_read_encoder_rtn flex_read_port flex_read_port_rtn Read Encoder Position Read I O Port read_io_port read_io_port_rdb flex_read_hs_cap_status flex_read_hs_cap_status_rtn Read High Speed Capture Status read_lim_stat read_lim_stat_rdb flex_read_limit_status flex_read_limit_status_rtn flex_read_home_input_status flex_read_home_input_status_rtn Read Limit Status Read Home Input Status read_pos read_pos_rdb flex_read_pos flex_read_pos_rtn Read Position read_rdb flex_communicate Communicate read_rpm flex_read_rpm flex_read_rpm_rtn Read Velocity in RPM read_steps_vel flex_read_velocity Read Velocity flex_read_velocity_rtn read_vel flex_read_velocity Read Velocity read_vel_rdb flex_read_velocity_rtn reset_pos flex_reset_pos Reset Position send_command flex_communicate Communicate set_base_vel _ set_direction flex_load_velocity Load Velocity flex_load_rpm Load Velocity in RPM National Instruments Corporation FlexMotion Software Reference Manual FlexMotion Functions Appendix B FlexMotion Functions Table B 2 ValueMotion to FlexMotion Cross Reference Continued ValueMotion Function Name FlexMotion Function Name Descriptive Name set
166. axis configuration in initialization 4 13 per resource functions versus bitmapped functions 4 10 PID parameters flex_load_pid_parameters 5 19 to 5 20 flex_load_single_pid_parameter 5 21 to 5 27 port functions flex_read_port 10 17 to 10 18 flex_read_port_rtn 10 17 to 10 18 FlexMotion Software Reference Manual l 12 flex_set_port_direction 10 25 to 10 26 flex_set_port_momo 10 27 to 10 29 flex_set_port_pol 10 30 to 10 31 position reference establishing in initialization 4 13 primary data types table 3 2 problem solving and diagnostic resources online E 1 programming functions onboard See onboard programming functions programming language considerations 3 1 to 3 10 board identification parameter 3 4 C C for Windows 3 4 to 3 6 data returned by reference 3 4 to 3 5 data returned in arrays 3 5 FlexMotion data structures 3 5 to 3 6 FlexMotion Windows libraries 2 1 to 2 3 function return status 3 3 Read functions 3 9 to 3 10 using functions with input vectors 3 10 variable data types 3 1 to 3 3 arrays 3 2 primary types table 3 2 structures and other user defined data types 3 3 Visual Basic for Windows 3 6 to 3 9 data returned by reference 3 7 data returned in arrays 3 7 to 3 8 u8 data type not supported 3 6 to 3 7 user defined data types 3 8 to 3 9 proportional gain changing 5 22 pull in moves 4 17 pulse width modulation PWM functions flex_configure_pwm_output 10 4 to 10 6 flex_l
167. axis or encoder Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer axisOrEncoder u8 axis or encoder to be controlled enableMode u8 breakpoint mode actionOnBreakpoint u8 action to perform when breakpoint reached Parameter Discussion axisOrEncoder is the axis or encoder to be controlled You can enable breakpoints on encoders mapped to axes 1 through 6 or directly on encoders 0x21 through 0x24 B Note Breakpoints are only available on encoders 1 through 4 resources 0x21 through 0x24 enableMode is the breakpoint enable mode enableMode Constant enableMode Value NIMC_BREAKPOINT_OFF 0 NIMC_ABSOLUTE_BREAKPOINT 1 NIMC_RELATIVE_BREAKPOINT 2 NIMC_MODULO_BREAKPOINT 3 FlexMotion Software Reference Manual 8 22 www natinst com Chapter 8 Motion I O Functions flex_enable_bp actionOnBreakpoint is the action to perform when the breakpoint is reached actionOnBreakpoint Constant actionOnBreakpoint Value NIMC_NO_CHANGE 0 NIMC_RESET_BREAKPOINT 1 NIMC_SET_BREAKPOINT 2 NIMC_TOGGLE_BREAKPOINT 3 Using This Function The Enable Breakpoint function enables the breakpoint and configures it as an absolute relative or modulo position breakpoint It also defines the action to perform when the breakpoint is reached leave the breakpoint output unchanged reset the breakpoint output low set the breakpoint output high or togg
168. axisOrEncoder u8 axis or encoder selector return Vector u8 destination for the return data Output Name Type Description highSpeedCaptureStatus ul6 bitmap of high speed capture status Parameter Discussion axisOrEncoder is the axis or encoder selector For multi axis status use 0 zero For multi encoder status use 0x20 returnVector indicates the desired destination for the return data generated by this function Available return Vectors include return data to the host OxFF return data to a variable 0x01 through 0x78 and don t return data 0 3 Note The suffix _rtn on the function indicates that the data should be returned to the host When this calling convention is used no returnVector is required highSpeedCaptureStatus is the bitmap of capture status for all axes or all encoders FlexMotion Software Reference Manual 8 38 www natinst com Chapter 8 Motion 1 0 Functions flex_read_hs_cap_status and flex_read_hs_cap_status_rtn When reading high speed capture status for axes axisOrEncoder 0 D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 DI DO XXX XXX XXX XXX XXX XXX XXX XXX XXX Axis6 Axis5 Axis4 Axis3 Axis2 Axis 1 XXX For D1 through D6 1 Capture occurred 0 Capture pending or never enabled When reading high speed capture status for encoders axisOrEncoder 0x20 D15 D14 D13 D12 Dil D10 D9 D8 D7 D6 DS D4 D3 D2 D1 DO
169. be configured When sent to a stepper axis this function configures the mapped stepper output Alternatively you can execute this function directly on the stepper output resource modeAndPolarityMap is the output mode and polarity bitmap D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO 0 0 0 0 0 0 0 0 0 0 0 0 0 Pol 0 Mode DO Mode 1 Step amp Direction default 0 CW amp CCW D1 Reserved D2 Polarity Pol 1 Inverting default 0 Noninverting National Instruments Corporation 5 9 FlexMotion Software Reference Manual Chapter 5 Axis amp Resource Configuration Functions flex_contig_step_mode_pol Using This Function You use this function to configure a stepper output to correctly interface with a stepper driver FlexMotion supports the two industry standards for stepper control outputs The most popular mode is Step and Direction where one output produces the step pulses and the other output produces a direction signal In clockwise CW and counter clockwise CCW mode the first output produces pulses when moving forward or CW while the second output produces pulses when moving reverse or CCW In either mode you can set the active polarity with the polarity bit to be active low inverting or active high noninverting For example in Step and Direction mode the polarity bit determines whether a high direction output is forward or reverse It also
170. bit resolution and the industry standard 10 V range Refer to Appendix A Specifications of your motion controller user manual for complete DAC output specifications Table 4 4 lists the resource IDs for DACs Table 4 4 DAC Resource IDs Resource Name Resource ID DAC 1 0x31 DAC 2 0x32 DAC 3 0x33 DAC 4 0x34 DAC 5 FlexMotion 6C only 0x35 DAC 6 FlexMotion 6C only 0x36 Stepper Outputs Stepper output resources generate the step pulses required for stepper axis control They operate like the DAC output in a servo axis FlexMotion supports the two industry standard stepper output configurations Step and Direction or CW CCW pulses Refer to the Configure Step Mode amp Polarity function for more information on these output configurations Table 4 5 lists the resource IDs for stepper outputs Table 4 5 Stepper Output Resource IDs Resource Name Resource ID Stepper Output 1 0x41 7344 only Stepper Output 2 0x42 7344 only Stepper Output 3 0x43 7344 only Stepper Output 4 0x44 7344 only Stepper Output 5 0x45 FlexMotion 6C only Stepper Output 6 0x46 FlexMotion 6C only National Instruments Corporation 4 7 FlexMotion Software Reference Manual Chapter 4 Software Overview General Purpose 1 0 Ports Vector Spaces FlexMotion 6C controllers provide 24 bits of general purpose digital I O organized into three 8 bit ports The 7344 controllers have 32 bits of
171. ble axes land 2 with an update rate of 250 us call the Enable Axes function with PIDrate 3 and axisMap 0x06 The value 0x06 corresponds to the following bitmap D7 D6 DS D4 D3 D2 D1 DO 0 AXIS 6 AXIS 5 AXIS 4 AXIS 3 AXIS 2 AXIS 1 0 0 0 0 0 0 1 1 0 You must also enable the extra digital potentiometer encoders with the Enable Encoders function FlexMotion Software Reference Manual www natinst com flex_load_counts_steps_rev Chapter 5 Axis amp Resource Configuration Functions flex_load_counts_steps_rev Load Counts Steps per Revolution Format status flex_load_counts_steps_rev boardID axis unitType countsOrSteps Purpose Loads the quadrature counts or steps per revolution for an axis Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer axis u8 axis to be controlled unitType ul6 type of information counts or steps that is being loaded countsOrSteps u32 quadrature counts or steps per revolution Parameter Discussion axis is the axis to be controlled unitType is the type of information counts or steps that is being loaded The legal values are as follows unitT ype Constant unitType Value Action NIMC_COUNTS 0 load counts per revolution NIMC_STEPS 1 load steps per revolution countsOrSteps is typically the quadrature counts or steps per revolution for the encod
172. cal1 which is the same as that used to call Win32 API functions For Visual Basic users flexmotn bas provides the FlexMotion function prototypes All FlexMotion functions in Visual Basic return an i32 National Instruments Corporation 3 3 FlexMotion Software Reference Manual Chapter 3 Programming Language Considerations Board Identification Parameter The first parameter to every FlexMotion function is the board identification parameter For C C users all functions in flexmotn h have BOARD as the first parameter BOARD is defined as boardID u8 the board identification number assigned by Measurement amp Automation Explorer For Visual Basic users all functions in flexmotn bas have boardID Integer as the first parameter which is the board identification number assigned by Measurement amp Automation Explorer Ensure that you pass the correct board identification parameter depending upon the programming language you are using To use multiple FlexMotion devices in one application simply pass the appropriate board identification parameter to each function Language Specific Considerations Apart from the data type differences there are a few language dependent considerations you need to be aware of when you use the FlexMotion API Refer to the following sections that apply to your programming language 3 Note Be sure to include the FlexMotion function prototypes by including the appropriate FlexMotion header f
173. ce velocity Purpose Reads the filtered velocity of an axis or vector space Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer axisOrVectorSpace u8 axis or vector space to be read returnVector u8 destination for the return data Output Name Type Description velocity 132 axis or vector space filtered velocity in counts s servo or steps s stepper Parameter Discussion axisOrVectorSpace is the axis or vector space to be read returnVector indicates the desired destination for the return data generated by this function Available return Vectors include return data to the host OxFF return data to a variable 0x01 through 0x78 and don t return data 0 3 Note The suffix _rtn on the function indicates that the data should be returned to the host When this calling convention is used no returnVector is required velocity is filtered velocity in counts s for servo axes or steps s for stepper axes For vector spaces velocity is the filtered vector velocity for the vector move The sign of velocity indicates direction of motion National Instruments Corporation 6 39 FlexMotion Software Reference Manual Chapter 6 Trajectory Control Functions flex_read_velocity and flex_read_velocity_rtn Using This Function The Read Velocity function returns the axis or vector space filtered velocity in counts s or steps s To minimize the quantization
174. chnical support 161 NIMC_blendFactorConflictError Axes which are part of a vector space have different blend factors Make sure that all the axes in the vector space have the same blend factor FlexMotion Software Reference Manual A 12 www natinst com Appendix A Error Codes Table A 1 Error Codes Summary Continued Error Code Symbolic Name Description 162 NIMC_torqueOffsetError The torque offset is outside of the torque limit range 163 NIMC_invalidLimitRangeError The negative lower limit is greater than or equal to the positive upper limit National Instruments Corporation A 13 FlexMotion Software Reference Manual FlexMotion Functions This appendix contains three tables that summarize the FlexMotion function parameters list changes to the FlexMotion API and give a ValueMotion to FlexMotion function cross reference Table B 1 summarizes the FlexMotion function parameters including the number of words in the command packet sent to the controller whether or not the function takes a vector and the Command ID These parameters are required when using the Communicate function Table B 1 FlexMotion Function Summary Function Name Description Word Count Uses Vectors Command ID Axis amp Resource Configuration Functions flex_config_axis Configure Axis Resources 5 No 281 flex_c
175. condition flex_wait_on condition Wait on Condition Format status flex_wait_on_condition boardID resource waitType condition mustOn mustOff matchType timeOut return Vector Purpose Inserts a conditional wait in a program Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer resource u8 axis vector space or other resource waitType ul6 selector for type of wait condition ul6 qualifying condition to end the wait mustOn u8 bitmap of bits that must be True mustOff u8 bitmap of bits that must be False matchType ul6 selector for type of match required timeOut ul6 timeout value in 100 millisecond increments returnVector u8 destination for the return data Parameter Discussion resource is the axis vector space or other resource involved in the condition waitType is the selector for the type of wait to perform waitType Constant waitType Value NIMC_WAIT 0 NIMC_WAIT_OR 1 NIMC_WAIT_OR allows you to combine multiple unrelated wait conditions into one wait where the program is waiting for condition 1 OR condition 2 OR condition 3 and so on National Instruments Corporation 12 19 FlexMotion Software Reference Manual Chapter 12 i FlexMotion Software Reference Manual Onboard Programming Functions flex_wait_on_condition condition is the qualifying condition to end the wait
176. ction The Load Software Limit Positions function sets the forward and reverse position limit values for the selected axis When enabled with the Enable Limits function a software limit causes the axis to smoothly decelerate to a stop when the limit position is reached or exceeded Even when disabled you can poll the software limits by the host computer or use an onboard program to warn of an out of range position For information about reading the software limit status see the Read Limit Status function You can use software limits to implement a position based simulated limit switch Software limits are often used to restrict the range of travel and avoid hitting the hardware end of travel limit switches For example you can travel at a high velocity until hitting the software limit switch and then move more slowly until hitting the hardware limit switch Warning After an axis has stopped due to encountering a software limit switch you can still move further in the same direction if you command the axis to do so This behavior is not possible with hardware limits but is desirable for software limits FlexMotion Software Reference Manual 8 10 www natinst com Chapter 8 Motion 1 0 Functions flex_read_home_input_status and flex_read_home_input_status_rtn flex_read_home_input_status and flex_read_home_input_status_rtn Read Home Input Status Format status flex_read_home_input_status boardID return Vector status flex_read_
177. ction API is in Appendix B FlexMotion Functions National Instruments Corporation 8 33 FlexMotion Software Reference Manual Chapter 8 Motion I O Functions flex_enable_hs_caps flex_enable_hs_caps Enable High Speed Position Capture Format status flex_enable_hs_caps boardID axisOrEncoder captureMap Purpose Enables the high speed capture inputs Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer axisOrEncoder u8 axis or encoder selector captureMap ul6 bitmap of high speed capture inputs to enable Parameter Discussion axisOrEncoder is the axis or encoder selector To enable high speed capture inputs on multiple axes use 0 zero To enable high speed capture inputs on multiple encoder resources use 0x20 aye Note High speed capture inputs are only available on encoders 1 through 4 resources 0x21 through 0x24 captureMap is the bitmap of high speed capture inputs to enable When enabling axes axisOrEncoder 0 D15 D14 D13 D12 Dil D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO 0 0 0 0 0 0 0 0 0 Axis6 Axis5 Axis4 Axis3 Axis2 Axis 1 0 For D1 through D6 1 Capture enabled 0 Capture disabled default FlexMotion Software Reference Manual 8 34 www natinst com D15 Chapter 8 Motion I O Functions flex_enable_hs_caps When enabling encoders axisOrEncoder 0x20
178. ction description in chapters 5 through 13 3 Note By convention resource IDs are given as hex values with the Ox prefix Axes An axis consists of a trajectory generator PID or stepper control block and some sort of output resource either a digital to analog converter DAC output or a stepper pulse generator output Servo axes must also have some sort of feedback resource either an encoder or ADC channel refer to Figures 4 1 and 4 2 Closed loop stepper axes also require a feedback resource and can use either encoder or ADC inputs open loop stepper axes do not require feedback for correct operation With FlexMotion you configure an axis with the Configure Axis Resources function by mapping feedback resources and output resources to the axis An axis with its primary output resource a DAC is by definition a servo axis An axis with its primary output resource a stepper output is by definition a stepper axis FlexMotion Software Reference Manual 4 2 www natinst com Chapter 4 Software Overview 101100111 a a 32 Bit PID 16 Bit Encoder o101011101101 Servo 11101101100 _ D A LUI Interface y Loop Converter 101100111 Figure 4 1 Servo Axis Resources 101100111 q 32 Bit i LI Encoder epper D Interface 01011010 Control i ee LI Stepper Pulse Generator 01
179. ctional data transfer port This port supports FIFO data passing in both send and readback directions The FlexMotion controller has both a command buffer for incoming commands and a Return Data Buffer RDB for return data At offsets from the controller s base address are two read only status registers The flow of communication between the host and the FlexMotion controller is controlled by handshaking bits in the Communication Status Register CSR The Move Complete Status MCS register provides instantaneous motion status of all axes Board ID Measurement amp Automation Explorer assigns a unique boardID to each motion controller in your system Once this assignment is made all FlexMotion API functions use this boardID to send and receive commands and data to from a specific FlexMotion controller FlexMotion Software Reference Manual 4 20 www natinst com Chapter 4 Software Overview Packets Handshaking and FIFO Buffers This section briefly describes how commands and data are passed between the host computer and the FlexMotion controller This information is provided for reference purposes The FlexMotion software provides drivers DLLs and C function libraries that handle the host to controller communication for you Data passed to or from the FlexMotion controller is handled in a packet format A packet consists of a packet identifier word command and data content and a packet terminator word This approach to communicat
180. cular Arc function defines an arc in the xy plane of a 2D or 3D vector space The arc is specified by a radius starting angle and travel angle and like all vector space moves uses the loaded value of vector acceleration and vector velocity to define the motion along the path of the arc Figure 6 1 defines a circular arc 1 Circular Arc 3 Starting Position 5 Radius 2 Travel Angle 4 Start Angle 6 Ending Position Figure 6 1 CircularArc Definitions Circular arcs are not limited to 360 Moves of over 4 000 circular revolutions in either direction can be started with one call to this function National Instruments Corporation 6 57 FlexMotion Software Reference Manual Chapter 6 Trajectory Control Functions flex_load_helical_arc flex_load_helical_ arc Load Helical Arc Format status flex_load_helical_arc boardID vectorSpace radius startAngle travelAngle linearTravel inputVector Purpose Loads parameters for making a helical arc move in a 3D vector space Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer vectorSpace u8 vector space to be controlled radius u32 arc radius in counts or steps startAngle f64 starting angle for the arc move in the xy plane in degrees travelAngle f64 travel angle for the arc move in the xy plane in degrees linearTravel 132 linear travel of the z axis in counts or steps inputVector u
181. d Chapter 4 Software Overview A program can also automatically pause if you execute a Stop Motion function from the host computer on an axis or axes under control of the onboard program In these cases the program pauses when it attempts to execute a Start Motion or Blend Motion function on the stopped axes This automatic pause also applies when the stop is due to a limit home software limit or following error condition You can effectively single step through an onboard program by having the program pause itself after every function and then resuming the program from the host computer FlexMotion Software Reference Manual 12 12 www natinst com Chapter 12 Onboard Programming Functions flex_read_program_status flex_read_program_status Read Program Status Format status flex_read_program_status boardID program returnVector status flex_read_program_status_rtn boardID program programStatus Purpose Reads the status of an onboard program Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer program u8 program number returnVector u8 destination for the return data Output Name Type Description programStatus ul6 status of specified program Parameter Discussion program is the program number Valid program numbers are 0x01 through OxFF 0 through 255 returnVector indicates the desired destination for the return
182. d Functions 00 0 cece eececesecesceseeeeceeeseeeeseeeeesaeesaeenees 3 9 Bxample icc scot tain ae ee hee ethan il 3 9 Considerations when Using Functions with Input Vectors cece eeceeeeeeereeseeeees 3 10 Chapter 4 Software Overview API Functional Organization eee ce eeeeceeeceeceseessecaeesaeceaesaeceecseeeeeeseeeeeeeeeeseneeegs 4 1 Axes Vector Spaces and Motion Resources cs cessceececeseeeseeeececereeeaeceeeecsaeeeseeeees 4 2 Resource IDs icc ssp ight iets Ped ee eae ha es ey 4 2 PAKGS E E EEE SE E E 4 2 Motion Res rcesS eena aia en See en bah ay 4 4 Encoders nerous eee ea ar ARR OE eE Eaa E rE ETNE N 4 4 ADC Channel sii arisna aia sive ee ee hy 4 5 DAC OUtputs renean a E E RE 4 6 Stepper OUtputs np p a r E E ESE ae ar 4 7 General Purpose T O Poris i s siesscesesscseecssecsag ccseusn saves sepuyseveveneveesateenecoeesavebeestes 4 8 VECLOES Paes sis eeeei he adie cde ee Sita Becca 4 8 Function Types and Parameters e erie nea E E 4 10 Bitmapped versus Per Resource Functions eseseeseseeesesreresreersrrerrereseersseee 4 10 Single and Double Buffered Parameters ee eeeeeseseeeecseecsecsseesecneeeseens 4 10 Input and Return Vectors 00 0 ceeeeescescecereeceeceeeeeesecesseceacecsseeeaeeeeeeesaeeeeeeensees 4 11 Onboard Variables sserssc e n aE E E ER uma deeker Sa 4 12 Initialization Overview s esesesesseeesesseeseseeeesrrsrerrsrerteseereseerrsteststesrernentnsentestsserresrereee 4 12 Recommended
183. d Motion function is executed an error will be generated The operation mode must be set or changed before any other trajectory parameters are loaded for the next move The operation mode affects how the target position and velocity values are interpreted Trajectory parameters loaded after a mode change will be interpreted in the newly selected mode Note Changing operation mode after the trajectory parameters are loaded can result in improper operation There are four position modes and one velocity mode as described in the following sections NIMC_ABSOLUTE_POSITION In absolute position mode target positions are interpreted with respect to an origin reference or zero position The origin is typically set at a home switch end of travel limit switch or encoder index position An absolute position move will use the preprogrammed values of acceleration deceleration s curve and velocity to complete a trajectory profile with an ending position equal to the loaded absolute target position The length of an absolute move depends upon the loaded position and the current position when the move is started If the target position is the same as the current position no move will occur Caution Any single move is limited to 23 1 counts or steps An error is generated if you exceed this limit by loading a target position too far from the current position NIMC_RELATIVE_POSITION In relative position mode while motion is not in progress
184. d a breakpoint position of 500 with the Load Breakpoint Position function and a breakpoint modulus of 2 000 If the instantaneous encoder position is 2 210 counts when you execute the Enable Breakpoint function in modulo mode the breakpoints at 1 500 counts and 3 500 counts are both enabled FlexMotion Software Reference Manual 8 26 www natinst com Chapter 8 Motion I O Functions flex_load_pos_bp flex_load_pos_bp Load Breakpoint Position Format status flex_load_pos_bp boardID axisOrEncoder breakpointPosition inputVector Purpose Loads the breakpoint position for an axis or encoder in counts Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer axisOrEncoder u8 axis or encoder to be controlled breakpointPosition 132 breakpoint position in counts inputVector u8 source of the data for this function Parameter Discussion axisOrEncoder is the axis or encoder to be controlled You can load breakpointPosition on encoders mapped to axes through 6 or directly on encoders 0x21 through 0x24 3 Note Breakpoints are only available on encoders 1 through 4 resources 0x21 through 0x24 breakpointPosition is the breakpoint position in quadrature counts Breakpoint positions can be anywhere within the 32 bit position range 23 to 23 1 The default value is zero 0 inputVector indicates the source of the data for this function Availabl
185. d starts the next move upon the completion of the previous move National Instruments Corporation 7 3 FlexMotion Software Reference Manual Chapter 7 Start amp Stop Motion Functions flex_blend Blend starting smoothly blends two move segments on an axis axes or vector space s There are three types of blends controlled by the blend factor e Blend moves by superimposing the deceleration profile of the previous move with the acceleration profile of the next move blend factor 1 e Blend moves by starting the next move at the exact point when the previous move has stopped blend factor 0 e Start the next move after a programmed delay time between the end of the previous move and the start of the next move blend factor gt 0 ms Refer to the Load Blend Factor function for more information on how blend factor controls the blending of motion profiles Caution For sequencing multiple moves with blends FlexMotion must complete one blend before parameters for the next move are loaded Refer to the Read Blend Status function for more information on blend sequencing If motion on any axis involved in a blend is illegal due to a limit or other error condition the entire Blend Motion function will not be executed and a modal error is generated None of the axes are affected and the move s in process will complete normally and stop For information about errors and error handling refer to Chapter 4 Software Overview
186. dID u8 assigned by Measurement amp Automation Explorer program u8 program number Parameter Discussion program is the program number Valid program numbers are 0x01 through OxFF 1 through 255 Using This Function The End Program Storage function ends memory storage of the program All subsequent functions are executed normally You can save a program to non volatile memory ROM using the Object Memory Management function FlexMotion Software Reference Manual 12 4 www natinst com Chapter 12 Onboard Programming Functions flex_insert_program_label flex_insert_program_label Insert Program Label Format status flex_insert_program_label boardID labelNumber Purpose Inserts a label in a program Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer labelNumber ul6 arbitrary label number Parameter Discussion labelNumber is any arbitrary label number from 1 to 65 535 Using This Function The Insert Program Label function marks a location in the sequence of a program The label number identifies this location and uses it in the Jump to Label on Condition function Label numbers are arbitrary and do not have to follow a numerical sequence National Instruments Corporation 12 5 FlexMotion Software Reference Manual Chapter 12 Onboard Programming Functions flex_jump_label_on_condition flex_jump_label_on_condition
187. data operations functions variables onboard functions with more than one data parameter table D 1 to D 2 overview 4 12 vector spaces 3D resources figure 4 9 control resource IDs table 4 9 purpose and use 4 8 to 4 10 velocity control 4 15 velocity feedback gain changing 5 25 to 5 26 velocity feedforward gain changing 5 26 to 5 27 velocity functions flex_load_base_vel 6 75 flex_load_velocity 6 16 to 6 17 flex_load_vel_override 6 91 to 6 92 flex_load_vel_tc_rs 5 28 to 5 29 flex_load_vel_threshold 6 89 to 6 90 flex_read_velocity 6 39 to 6 40 flex_read_velocity_rtn 6 39 to 6 40 velocity in counts s or steps s 4 18 velocity in RPM 4 18 FlexMotion Software Reference Manual l 16 velocity override in percent 4 19 Visual Basic for Windows creating 32 bit Windows applications 2 3 programming considerations 3 6 to 3 9 data returned by reference 3 7 data returned in arrays 3 7 to 3 8 u8 data type not supported 3 6 to 3 7 user defined data types 3 8 to 3 9 W watchdog timer function flex_enable_1394_watchdog 13 7 Web support from National Instruments E 1 to E 2 online problem solving and diagnostic resources E 1 software related resources E 2 Windows libraries See FlexMotion Windows libraries Worldwide technical support E 2 www natinst com
188. de a modal error check in every status polling loop Most applications include a polling loop to display motion status position velocity and so on This way you are assured of never missing a modal error You can always add a modal error check after each FlexMotion API call but that is inefficient and unnecessary Remember that a correctly written program will not generate errors During debugging you can run an independent application to check for modal errors The FlexCommander application always checks modal errors for you when it is running Refer to the example programs included with the FlexMotion software to see how error handling is implemented in practice National Instruments Corporation 4 25 FlexMotion Software Reference Manual Axis amp Resource Configuration Functions This chapter contains detailed function descriptions of the functions used to configure the axes and resources on your FlexMotion controller The functions are arranged alphabetically by function name These functions give you access to some of the most powerful features of FlexMotion They allow you to map encoder ADC and DAC resources to various axes configure axes for servo or stepper control and combine axes into 2D and 3D vector spaces for advanced motion control applications These axis and resource configuration functions are typically executed once during system initialization You can call most of them at any time to reconfigure y
189. de ul6 error code Parameter Discussion commandID is the command ID of the function that caused the error resourceID is the resource ID involved in the error errorCode is the code for the error condition Using This Function The Read Error Message function retrieves the most recent modal error from the Error Message Stack and returns it through the Return Data Buffer to the host B Note See Appendix A Error Codes for a description of error codes and possible causes When a modal error occurs the command ID resource ID and error code are automatically stored in the Error Message Stack and the Error Message Err Msg bit in the Communication Status Register is set to indicate that one or more errors are present on the stack National Instruments Corporation 11 11 FlexMotion Software Reference Manual Chapter 11 Error amp Utility Functions flex_read_err_msg_rtn Modal errors are defined as errors that are not detected at the time of function execution These errors can occur for a number of reasons including bad command ID bad axis vector space or resource ID data out of range function not valid in the present operating mode and so on A common source of modal errors is improperly constructed function calls stored in an onboard program When the program is run the errors generate modal error messages 3 Note Fora description of modal and non modal errors refer to Chapter 4 Software Overview The
190. default value of 4 1 6 MHz is used by the 7344 controller National Instruments Corporation 10 3 FlexMotion Software Reference Manual Chapter 10 Analog amp Digital I O Functions flex_configure_pwm_output flex_configure_pwm_output Configure PWM Output Format status flex_configure_pwm_output boardID u8 PWMOutput u16 enable u16 clock Purpose Enables and disables PWM outputs and sets the PWM clock frequency Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer PWMOutput u8 PWM Output enable ul6 enable disable for PWM Output clock ul6 clock selector Parameter Discussion PWMOutput selects the PWM Output to configure 1 or 2 enable enables or disables the specified PWM Output When enabled the clock parameter determines the clock frequency used for the PWM output 1 enabled 0 disabled clock specifies the clock frequency for the PWM output The base clock frequency for the PWM outputs is 8 2575 MHz on the PC and PCI FlexMotion controllers and 10 240 MHz on the 7344 controllers This base clock frequency is divided down depending on the clock value selected Table 10 1 lists the PWM clock frequency settings FlexMotion Software Reference Manual 10 4 www natinst com Chapter 10 Analog amp Digital I O Functions flex_configure_pwm_output Table 10 1 PWM Clock Frequency Settings
191. dual loop feedback Dual loop feedback is most useful when the primary position sensor encoder or analog transducer is located on the end effector for improved accuracy and is separated from the motor by gears ballscrews belt drives and or other mechanical apparatus with potentially poor dynamics In this case it can be difficult to achieve a high performance stable control system without using the minor loop velocity feedback from an encoder mounted directly on the back of the motor Typically Kd is set to zero when Kv is used However FlexMotion allows you to use both Kv and Kd terms simultaneously for improved performance 3 Note Operating with zero derivative gain Kd and either velocity feedback or a velocity block amplifier is often referred to as PIVff mode You can operate FlexMotion in PID mode PIVff mode or in a combination of both modes by using Kd Kv or both Acceleration Feedforward The acceleration feedforward gain Aff determines the contribution in the 16 bit DAC command output that is directly proportional to the instantaneous trajectory acceleration Aff is used to minimize following error position error during acceleration and deceleration and can be changed at any time to tune the PID loop Using acceleration feedforward is an open loop compensation technique and cannot affect the stability of the system However if you use too large a value of Aff following error during acceleration and deceleration can
192. e Loads parameters for making a spherical arc move in a 3D vector space Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer vectorSpace u8 vector space to be controlled radius u32 arc radius in counts or steps planePitch f64 angle between the x and x axes when the entire x y z vector space is rotated around the y axis planeYaw f64 angle between the x and x axes when the entire x y z vector space is rotated around the z axis startAngle f64 starting angle for the arc move in the x y plane in degrees travelAngle f64 travel angle for the arc move in the x y plane in degrees inputVector u8 source of the data for this function Parameter Discussion vectorSpace is the vector space to be controlled radius is the arc radius in counts servo axes or steps stepper axes The range is 2 to 23 1 counts steps planePitch is the double precision floating point value in degrees of the angle between the x and x axes when the entire x y z vector space is rotated around the y axis The y axis remains aligned with the y axis The range is 0 to 90 When planePitch equals 90 the positive x axis is aligned with the negative z axis FlexMotion Software Reference Manual 6 60 www natinst com Chapter 6 Trajectory Control Functions flex_load_spherical_arc planeYaw is the double precision floating point value in degrees of the angle between th
193. e ADCs function for more information UN Caution Illegally configured axes cannot be enabled and attempting to do so will generate an error For example an attempt to enable a servo axis that does not at least have its Primary Feedback device mapped will generate an error You can also set the update rate slower than the maximum This is useful in many applications to scale the effective range of the PID control loop parameters and or to improve stability Refer to the Load Single PID Parameter function for more information on the PID parameters affected by the update rate 33 Note Enabled axes must be killed motor off when changing the PID update rate or an error will be generated National Instruments Corporation 5 15 FlexMotion Software Reference Manual Chapter 5 Axis amp Resource Configuration Functions flex_enable_axes Example Your application has the following axis requirements Axis is a servo axis with dual loop encoder feedback Axis 2 is a closed loop stepper axis You also want to use the remaining 3 encoder channels as digital potentiometer inputs You have 2 axes one of which is stepper The fastest update rate you can set is as follows PIDrate 1 1 stepper 2 But at a PIDrate of 2 the maximum number of encoders is 5 and you need 6 So you must increase PIDrate to the following PIDrate 2 too many encoders 3 Update Rate PIDrate 1 x 62 5 us 3 1 x 62 5 ps 250 ps To ena
194. e Constant limitType Value NIMC_LIMIT_SWITCHES 0 NIMC_SOFTWARE_LIMITS 1 forwardLimitMap is the bitmap of forward limits to enable either inputs or software D7 D6 DS D4 D3 D2 D1 DO 0 Forward 6 Forward 5 Forward 4 Forward 3 Forward 2 Forward 1 0 For D1 through D6 1 Forward limit enabled 0 Forward limit disabled default FlexMotion Software Reference Manual 8 6 www natinst com Chapter 8 Motion 1 0 Functions flex_enable_limits reverseLimitMap is the bitmap of reverse limits to enable either inputs or software D7 D6 D5 D4 D3 D2 D1 DO 0 Reverse 6 Reverse 5 Reverse 4 Reverse 3 Reverse 2 Reverse 1 0 For D1 through D6 1 Reverse limit enabled 0 Reverse limit disabled default Using This Function The Enable Limits function enables disables any combination of axis limits You can enable the physical limit inputs hardware or the logical position limits software depending upon the limitType selected You can enable or disable forward and reverse limits separately You can enable both software and hardware limits on an axis or axes by calling this function twice The limit inputs are typically connected to end of travel limit switches or sensors An enabled limit input causes a halt stop on the axis when the input becomes active You can configure each limit input to be active low inverting or active high noninverting with t
195. e Description boardID u8 assigned by Measurement amp Automation Explorer axisMap ul6 bitmap of axes to acquire data for numberOfSamples ul6 number of samples to acquire timePeriod ul6 time period between samples in ms Parameter Discussion axisMap is the bitmap of axes to acquire data for D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO 0 0 0 0 0 0 0 0 0 Axis Axis Axis Axis Axis Axis 0 6 5 4 3 2 1 D1 through D6 1 Acquire samples on this axis 0 Do not acquire samples default numberOfSamples is the number of samples to acquire The maximum number of samples depends upon the number of axes selected by axisMap numberOfSamples max 4096 number of axes With axis selected the maximum is 4 096 samples With all six axes selected the maximum is 682 samples timePeriod is the time period between samples in ms The range is from 3 default to 65 535 ms National Instruments Corporation 6 73 FlexMotion Software Reference Manual Chapter 6 Trajectory Control Functions flex_acquire_trajectory_data Using This Function A The Acquire Trajectory Data function initiates the automatic acquisition of position and velocity data for the selected axes The data is held in an onboard first in first out FIFO buffer until later read back with the Read Trajectory Data function You can select which axes to acquire data for and program t
196. e Manual 4 4 www natinst com Chapter 4 Software Overview potentiometer encoder inputs or as master encoders for master slave and gearing applications Table 4 2 lists the resource IDs for encoders Table 4 2 Encoder Resource IDs Resource Name Resource ID Encoder Control 0x20 Encoder 1 0x21 Encoder 2 0x22 Encoder 3 0x23 Encoder 4 0x24 Encoder 5 FlexMotion 6C only 0x25 Encoder 6 FlexMotion 6C only 0x26 Functions that can operate on multiple encoders simultaneously for example Read High Speed Capture Status can take the encoder control 0x20 as their resource parameter Encoders 1 through 4 0x21 through 0x24 feature high speed capture inputs and breakpoint outputs These features are implemented in the encoder processor FPGA and are fully functional when an encoder is used as an independent resource or as feedback for an axis On FlexMotion 6C controllers encoders 5 and 6 do not have these advanced features Also there are other performance differences between encoder input channels Refer to Appendix A Specifications of your motion controller user manual for detailed encoder specifications ADC Channels You can use ADC channels as analog feedback for axes or as general purpose analog inputs to measure sensors or potentiometers 12 Bit 10 Volts h J AtoD 010101110110 Converter Figure 4 3 ADC Input Resources National Inst
197. e Type Description boardID u8 assigned by Measurement amp Automation Explorer variablel u8 variable to be inverted returnVector u8 destination for the result Parameter Discussion variable1 is the location of the variable to be inverted Valid variables are 0x01 through 0x78 returnVector indicates the desired destination for the result of this function Available return Vectors include return data to the host OxFF return data to a variable 0x01 through 0x78 and don t return data 0 Using This Function The Invert Variable function performs a bitwise logical NOT on the value in the selected variable and returns the result to the destination specified by the returnVector returnVector value variablel value The result can be returned to a new variable or to the input variable returned to the host computer or thrown away In all cases the EQUAL condition code is set True if the result equals zero all bits low and False if any bit is set The GREATER THAN and LESS THAN codes are also set but can be confusing after logical bitwise operations Example If the value in variable1 is 0x0000 5A5A the result of the bitwise NOT is OxXFFFF A5A5 The EQUAL condition code is set to False National Instruments Corporation 12 39 FlexMotion Software Reference Manual Chapter 12 Onboard Programming Functions flex_or_vars flex_or_vars OR Variables Format status flex_or_var boardID
198. e bitmap of active polarities for the reverse limit inputs D7 D6 DS D4 D3 D2 DI DO 0 Reverse 6 Reverse 5 Reverse 4 Reverse 3 Reverse 2 Reverse 1 0 For D1 through D6 1 Inverting default 0 Noninverting National Instruments Corporation 8 19 FlexMotion Software Reference Manual Chapter 8 Motion 1 0 Functions flex_set_limit_polarity Using This Function The Set Limit Input Polarity function defines the active polarity for each forward and reverse limit input as either inverting or noninverting Inverting polarity means that an active low input corresponds to a logical True or On state Conversely noninverting polarity means that an active high input corresponds to a logical True On state You can enable limit inputs to cause halt stops when the input becomes active with the Enable Limits function You can also use a limit input as a general purpose input and read its status with the Read Limit Status function Example To set the polarity of the forward and reverse limit inputs on axes 1 2 3 and 4 as inverting and the forward and reverse limit inputs on axes 5 and 6 as noninverting call the Set Limit Input Polarity function with the following parameters forwardPolarityMap 0x1E which corresponds to the following bitmap D7 D6 DS D4 D3 D2 D1 DO 0 Forward 6 Forward 5 Forward 4 Forward 3 Forward 2 Forward 1 0 0 0 0 1 1 1 1 0 reversePolarity
199. e include Profile Complete Run Stop In Position Settling time delay and so on Note Reading the MCS register immediately after calling the Start Motion function might not return the status you expected The Start Motion can still be buffered in the communications FIFO when the instantaneous read of the MCS occurs This function also returns the state of the User Status bits You can set and reset these three bits during onboard program execution as general purpose flags to the host computer Refer to the Set User Status MOMO function for more information Note When the FlexMotion controller is in the Power Up state the MCS register contains a power up code that describes why the controller is in the Power Up state For a list of these power up codes refer to the Clear Power Up Status function FlexMotion Software Reference Manual 6 30 www natinst com flex_read_pos and flex_read_pos_rtn Chapter 6 Trajectory Control Functions flex_read_pos and flex_read_pos_ritn Read Position Format status flex_read_pos board ID axis returnVector status flex_read_pos_rtn board ID axis position Purpose Reads the position of an axis Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer axis u8 axis to be read returnVector u8 destination for the return data Output Name Type Description position 132 axis position in counts servo or steps stepper
200. e inputVectors include immediate OXFF or variable 0x01 through 0x78 Using This Function The Load Breakpoint Position function loads the breakpoint position value for the axis or encoder specified You can specify position breakpoints as either absolute relative or with respect to a modulus range when the breakpoint is enabled Breakpoint position is double buffered and not actually used until you execute the Enable Breakpoint function National Instruments Corporation 8 27 FlexMotion Software Reference Manual Chapter 8 Motion 1 0 Functions flex_load_pos_bp B Note For modulo breakpoints the magnitude of the breakpoint value must be less than the breakpoint modulus If this range is exceeded a modal error is generated when you execute the Enable Breakpoint function When the breakpoint position is reached a breakpoint event is generated and the associated high speed breakpoint output immediately transitions High speed breakpoint functionality is performed by the encoder resources themselves When this function is sent to an axis it is actually being sent to the mapped encoder resource Breakpoints are only available on the FPGA encoder resources 0x21 through 0x24 and are always loaded in quadrature counts When the same breakpoint position is used on a repetitive basis it is not necessary to reload the position each time It is necessary however to re enable the breakpoint after each use FlexMotion Software Reference
201. e limit for optional secondary DAC inputVector u8 source of the data for this function Parameter Discussion axis is the axis to be controlled primaryPositiveLimit is the primary DAC positive torque or velocity limit The range is 32 768 to 32 767 10 V to 10 V with a default value of 32 767 10 V primaryNegativeLimit is the primary DAC negative torque or velocity limit The range is 32 768 to 32 767 10 V to 10 V with a default value of 32 767 10 V i Note The positive limit cannot be less than the negative limit secondaryPositiveLimit is the optional secondary DAC positive torque or velocity limit The range is 32 768 to 32 767 10 V to 10 V with a default value of 32 767 10 V FlexMotion Software Reference Manual 6 84 www natinst com Chapter 6 Trajectory Control Functions flex_load_torque_lim secondaryNegativeLimit is the optional secondary DAC negative torque or velocity limit The range is 32 768 to 32 767 10 V to 10 V with a default value of 32 767 10 V Ss Note The positive limit cannot be less than the negative limit inputVector indicates the source of the data for this function Available input Vectors include immediate OXFF or variable 0x01 through 0x78 Using This Function The Load Torque Limit function allows you to limit the output range of the DAC output s on the selected servo axis This function has no effect on stepper axes or i
202. e match bit is set to True The NIMC_CONDITION_LIMIT_INPUT_ACTIVE and NIMC_CONDITION_SOFTWARE_LIMIT_ACTIVE conditions create a combined status bitmap where if either the forward or reverse limit is active the bit is True When the return Vector is set to anything other than zero 0 the condition code and status bitmap that satisfied the condition are returned to the destination specified either to a variable or the host computer as two 16 bit words u16 In the host computer they can then be read from the RDB with the Communicate function This feature is useful when debugging programs Waits are one of the most powerful and useful features on the FlexMotion controller While a program is suspended waiting for a condition FlexMotion is not wasting CPU cycles on it The preemptive multitasking real time operating system RTOS on the FlexMotion controller suspends the task until the condition is met or the timeout expires This feature allows up to 10 programs to be running simultaneously with little impact on function execution performance FlexMotion Software Reference Manual 12 22 www natinst com Chapter 12 Onboard Programming Functions flex_wait_on_condition To perform a conditional wait on two unrelated conditions store the Wait on Condition function twice the first with waitType NIMC_WAIT_OR and the second with waitType NIMC_WAIT ay Note Two sequential Wait on Condition functions both with waitType NIMC_WAIT eff
203. e position modulus for an axis Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer axis u8 axis to be controlled positionModulus u32 position modulus value in counts or steps inputVector u8 source of the data for this function Parameter Discussion axis is the axis to be controlled positionModulus is the position modulus value in counts servo axes or steps stepper axes The modulus range is from 0 default to 23 1 inputVector indicates the source of the data for this function Available input Vectors include immediate OxFF or variable 0x01 through 0x78 Using This Function The Load Position Modulus function sets the modulus used when the axis is operating in Modulus Position mode It has no effect when the axis is operating in other modes When a target position is loaded it is interpreted within the boundaries of a modulus range See the Set Operation Mode function for a complete description of the Modulus Position mode National Instruments Corporation 6 79 FlexMotion Software Reference Manual Chapter 6 Trajectory Control Functions flex_load_rpm_thresh flex_load_rpm_thresh Load Velocity Threshold in RPM Format status flex_load_rpm_thresh boardID axis threshold input Vector Purpose Loads a velocity threshold for an axis in RPM Parameters Input Name Type Description boardID u8 assigned by Measurement amp A
204. e selected descriptionType Constant String NIMC_ERROR_ONLY Error 124 NIMC_findIndexError Find Index sequence did not find the index successfully NIMC_FUNCTION_NAME_ONLY Find Index flex_find_index NIMC_RESOURCE_NAME_ONLY Axis 0x01 NIMC_COMBINED_DESCRIPTION Error 124 NIMC_findIndexError occurred in Find Index flex_find_index on Axis 0x01 Find Index sequence did not find the index successfully National Instruments Corporation 11 5 FlexMotion Software Reference Manual Chapter 11 Error amp Utility Functions flex_get_motion_board_info flex_get_motion_board_info Get Motion Board Information Format status flex_get_motion_board_info boardID informationType information Value Purpose Gets information about the properties and features of your motion controller Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer informationType u32 type of information you want to retrieve Output Name Type Description information Value u32 retrieved information Parameter Discussion informationType is the selector for the type of controller information you want Legal values are defined as constants in the FlexMotion header files motnenst h for C C users and motncnst bas for Visual Basic users and are listed in the following section information Value is the returned information of the type you select
205. e start Using This Function The Start Motion function is used to start a motion profile on axes or vector spaces either simultaneously or individually A start is preemptive and uses the most recently loaded values of acceleration velocity target position s curve operation mode and so on to generate the motion profile 3 Note Ifa stepper axis is in a killed state not energized halt the axis using the Stop Motion function with stopType set to NIMC_HALT_STOP before you execute a Start Motion or Blend Motion function After you halt the axis you might need to wait before executing a Start Motion or Blend Motion function so that the stepper drive comes out of reset state If the stepper drive does not come out of reset state before you execute the function the stepper axis might lose some steps during acceleration To determine whether you need to wait before executing the function refer to your stepper drive documentation or vendor You can also use the Start Motion function to update trajectory parameters to a move that is already in process Trajectory parameters loaded after the start take effect immediately upon the next start without requiring the motion to come to a stop You can use this feature for velocity profiling and other continuous motion applications FlexMotion Software Reference Manual 7 6 www natinst com Chapter 7 Start amp Stop Motion Functions flex_start Motion will start on properly configured and en
206. e than one data parameter that require multiple variables when using vectors The Maximum Variable Number column lists the highest variable number that a vector can point to and still have room for all the data without exceeding the total variable space This appendix also highlights a few special cases where the number of parameters does not equal the number of variables These cases are described in the notes that follow the table Table D 1 Functions with More than One Data Parameter Number of Number of Maximum Function Name Vector Type Parameters Variables Required Variable Number Load All PID Parameters Input 8 8 0x71 Configure Velocity Filter Input 2 2 0x77 Load Velocity in RPM Input 1 4 note 1 0x75 Load Accel Decel in RPS sec Input 1 4 note 1 0x75 Load Vector Space Position Input 3 3 0x76 Read Velocity in RPM Return 1 4 note 1 0x75 Read Vector Space Position Return 3 3 0x76 Reset Position Input 2 2 0x77 Load Circular Arc Input 3 5 notes 2 and 3 0x74 Load Helical Arc Input 4 4 note 2 0x75 Load Spherical Arc Input 5 5 note 2 0x74 Load Gear Ratio Input 3 3 0x76 Load Velocity Threshold in Input 1 4 note 1 0x75 RPM National Instruments Corporation D 1 FlexMotion Software Reference Manual Appendix D Onboard Variables Input and Return Vectors Table D 1 Functions with More than One Data Parameter Continued Number of
207. e to a stop For more information refer to the Arcs Functions section in Chapter 6 Trajectory Control Functions FlexMotion Software Reference Manual 4 16 www natinst com Chapter 4 Software Overview Pull in Moves In closed loop stepper systems any lost steps that are not enough to cause a following error trip are made up with a final pull in move This move is automatic and does not require a Start Motion or Blend Motion function execution Trajectory Parameters All trajectory parameters for servo and closed loop stepper axes are expressed in terms of quadrature encoder counts Parameters for open loop stepper axes are expressed in steps For servo axes the encoder resolution in counts per revolution determines the ultimate positional resolution of the axis For stepper axes the number of steps per revolution depends upon the type of stepper driver and motor being used For example a stepper motor with 1 8 step 200 steps revolution used in conjunction with a 10x microstep driver would have an effective resolution of 2 000 steps per revolution Resolution on closed loop stepper axes is limited to the steps per revolution or encoder counts per revolution whichever is more coarse There are two other factors that affect the way trajectory parameters are loaded to the FlexMotion controller versus how they are used by the trajectory generators floating point versus fixed point parameter representation and time base You
208. e x and x axes when the entire x y z vector space is rotated around the z axis The z axis remains aligned with the z axis The range is 0 to 359 999313 When planeYaw equals 90 the positive x axis is aligned with the positive y axis My Note Loading zeros for planePitch and plane Yaw reduces the spherical arc to a circular arc startAngle is the double precision floating point value in degrees of the starting angle of the arc The range is 0 to 359 999313 where angle 0 is along the positive x axis and values increase counterclockwise from the positive x axis in the x y plane travelAngle is the double precision floating point value in degrees of the angle to be traversed The range is 1 474 560 to 1 474 200 4 096 to 4 095 revolutions A positive travelAngle defines counter clockwise rotation in the x y plane 3 Note Internally the floating point values for planePitch planeYaw startAngle and travelAngle are represented as scaled fixed point numbers See the Arc Angles in Degrees section in Chapter 4 Software Overview for more information on angular units and their effect on arc resolution inputVector indicates the source of the data for this function Available inputVectors include immediate OxFF or variable 0x01 through 0x78 3 Note The conversion from floating point to fixed point is performed on the host computer not on the FlexMotion controller To load arc functions from onboard
209. eakpointType 0 returns breakpointStatus 0x0012 which corresponds to the following bitmap D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO XXX XXX XXX XXX XXX XXX XXX XXX XXX XXX XXX Enc 4 Enc 3 Enc 2 Enc 1 XXX 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 On encoders 1 and 4 breakpoints have occurred but on encoders 2 and 3 breakpoints are pending or were never enabled FlexMotion Software Reference Manual 8 30 www natinst com Chapter 8 Motion 1 0 Functions flex_set_bp_momo flex_set_bp_momo Set Breakpoint Output MOMO Format status flex_set_bp_momo boardID axisOrEncoder mustOn mustOff Purpose Sets the breakpoint outputs using the MustOn MustOff protocol Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer axisOrEncoder u8 axis or encoder selector mustOn u8 bitmap of breakpoint outputs to be forced On mustOff u8 bitmap of breakpoint outputs to be forced Off Parameter Discussion axisOrEncoder is the axis or encoder selector To set breakpoint outputs on multiple axes use 0 zero To set breakpoint outputs on multiple encoder resources use 0x20 mustOn is the bitmap of breakpoint outputs to be forced On D7 D6 DS D4 D3 D2 D1 DO 0 mustOn 6 mustOn 5 mustOn 4 mustOn 3 mustOn 2 mustOn 1 0 For D1 through D6 1 Breakpoint output forced On 0 B
210. ecified ADC Parameter Discussion ADC is the analog to digital converter channel to configure Valid ADC resources are 0x51 through 0x58 range specifies the input voltage range over which the ADC will convert input voltages to digital values Voltages outside of the range will clamp at the extremes which are 2 048 or 2 047 for the 5 to 5 V and 10 to 10 V ranges and 0 or 4 096 for the 0 to 5 V and 0 to 10 V ranges You can choose from the following values for the range range Constant range Value Range Volts Binary Values NIMC_ADC_UNIPOLAR_5 0 0 to 5 0 to 4 096 NIMC_ADC_BIPOLAR_5 1 5 to 5 2 048 to 2 047 NIMC_ADC_UNIPOLAR_10 2 0 to 10 0 to 4 096 NIMC_ADC_BIPOLAR_10 3 10 to 10 2 048 to 2 047 The constants listed previously are defined in the FlexMotion header files motncnst h for C C users and motncnst bas for Visual Basic users National Instruments Corporation 10 23 FlexMotion Software Reference Manual Chapter 10 Analog amp Digital 1 0 Functions flex_set_adc_range B Note The only valid choice for FlexMotion 6C controllers is 3 which corresponds to the 10 to 10 V range The 7344 controllers provide for all four ranges Using This Function If you do not call this function the range defaults to 10 to 10 V If you know that your input voltage falls within a more restrictive range you can effectively increase the resol
211. ecision floating point velocity value in RPM The RPM range depends upon the motor counts or steps per revolution and the trajectory update rate Refer to the Trajectory Parameters section in Chapter 4 Software Overview for more information on velocity and acceleration units and their dependency on trajectory update rate inputVector indicates the source of the data for this function Available input Vectors include immediate OxFF or variable 0x01 through 0x78 Using This Function The Load Velocity in RPM function specifies the maximum trajectory velocity for individual axes or vector spaces When executed on a vector space the value controls the vector velocity along the vector move path For velocity control applications the sign of the loaded velocity specifies the move direction This function requires previously loaded values of either counts per revolution for servo axes or steps per revolution for stepper axes to operate correctly FlexMotion Software Reference Manual 6 10 www natinst com Chapter 6 Trajectory Control Functions flex_load_rpm RPM is double buffered so you can load it on the fly without affecting the move in process and it will take effect on the next Start Motion or Blend Motion function Once loaded this parameter remains in effect for all subsequent motion profiles until re loaded by this function You do not need to load velocity before each move unless you want to change it Sy Note The velocity lo
212. ectively implement a Wait AND because both wait conditions must evaluate successfully before program execution is resumed Example In program one you want to wait until axes 1 through 4 have found home or until program two is complete To accomplish this store a Wait on Condition function with the following parameters waitType NIMC_WAIT_OR condition NIMC_CONDITION_HOME_FOUND 7 mustOn 0x1E which corresponds to the following bitmap D7 D6 D5 D4 D3 D2 DI DO mustOn 7 mustOn 6 mustOn 5 mustOn 4 mustOn 3 mustOn 2 mustOn 1 mustOn 0 0 0 0 1 1 1 1 0 mustOff 0x00 which corresponds to the following bitmap D7 D6 D5 D4 D3 D2 DI DO mustOff 7 mustOff 6 mustOff 5 mustOff 4 mustOff 3 mustOff 2 mustOff 1 mustOff 0 0 0 0 0 0 0 0 0 matchType NIMC_MATCH_ALL 0 timeOut 100 timeout after 10 s returnVector 0 throw the status away Immediately follow this with a second Wait on Condition function with the following parameters resource 2 for program two waitType NIMC_WAIT condition NIMC_CONDITION_PROGRAM_COMPLETE 20 timeOut 100 timeout after 10 s returnVector 0 throw the status away In this example the home found status of axes 5 and 6 is don t care National Instruments Corporation 12 23 FlexMotion Software Reference Manual Chapter 12 Onboard Programming Functions Object Management Functions Object Management Function
213. ector space 0x11 through 0x13 multiple axes 0 or multiple vector spaces 0x10 When simultaneously blending multiple axes or vector spaces the axisOr VSMap parameter indicates which axes or vector spaces are involved axisOrVSMap is the bitmap of axes or vector spaces to be blended It is only required when you select multiple axes or vector spaces with the axisOrVectorSpace parameter When blending axes axisOr VectorSpace 0 TiS D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO 0 0 0 0 0 0 0 0 0 Axis Axis Axis Axis Axis Axis 0 6 5 4 3 2 1 For D1 through D6 1 Blend axis 0 Do not blend axis FlexMotion Software Reference Manual 7 2 www natinst com Chapter 7 Start amp Stop Motion Functions flex_blend When blending vector spaces axisOrVectorSpace 0x10 D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 DI DO For D1 through D3 1 Blend vector space 0 Do not blend vector space To blend a single axis or vector space set the axisOr VectorSpace selector to the desired axis or vector space The axisOrVS Map bitmap is ignored To blend multiple axes the axisOrVectorSpace selector is set to 0 zero and the axisOr VSMap bitmap defines the axes to be blended Similarly to blend multiple vector spaces the axisOrVectorSpace selector is set to 0x10 and the axisOrVS Map bitmap defines the vector spaces
214. ector spaces axisOrVectorSpace 0x10 D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO D1 through D3 1 Blend complete on vector space 0 Blend pending Using This Function Blending smoothly combines two move segments on an axis axes or vector space s When continuously blending move segments into each other it is necessary to wait until the blend is complete between the previous two moves before you load the trajectory parameters for the next move to be blended The status information returned by the Read Blend Status function indicates that the previous blend is complete and the axis axes or vector space s are ready to receive the next blend move trajectory data 3 Note Attempting to execute a Blend Motion function before the previous blend is complete on the axes involved will generate a modal error For information about errors and error handling refer to Chapter 4 Software Overview National Instruments Corporation 6 25 FlexMotion Software Reference Manual Chapter 6 Trajectory Control Functions flex_read_blend_status and flex_read_blend_status_rtn Example While blending linearly interpolated moves in a 2D vector space you call the Read Blend Status function with axisOrVectorSpace 0x10 to select vector space status If the blend on vector space 1 is still pending this function will return blendStatus 0x000C which corresponds to the following bitmap D15 D14 D13 D12 Dil D10 D9 D8 D7 D6 DS D4 D3 D
215. ector spaces the axisOrVectorSpace selector is set to 0x10 and the axisOr VSMap bitmap defines the vector spaces to be checked moveComplete indicates whether or not the move is complete on the axes or vector spaces specified 1 Move complete 0 Move not complete Using This Function This utility function is built on top of the Read Trajectory Status function and is provided for your programming convenience Instead of decoding the output of the Read Trajectory Status function yourself this function does that for you by comparing the axes or vector spaces specified in the axisOrVectorSpace and axisOr VSMap input parameters with the move complete status for the appropriate axes or vector spaces The output is a single true false value indicating whether or not the specified move or moves are complete For more information on move complete status refer to the Read Trajectory Status and Configure Move Complete Criteria functions National Instruments Corporation 6 5 FlexMotion Software Reference Manual Chapter 6 Trajectory Control Functions flex_load_acceleration flex_load_ acceleration Load Acceleration Deceleration Format status flex_load_acceleration boardID axisOrVectorSpace accelerationType acceleration inputVector Purpose Loads the maximum acceleration and or deceleration value for an axis or vector space Parameters Input Name Type Description boardID u8 assigned by Measurement amp
216. ed Possible return values are listed in the following section in terms of constants defined in the FlexMotion header files FlexMotion Software Reference Manual 11 6 www natinst com Chapter 11 Error amp Utility Functions flex_get_motion_board_info informationType Constant Possible information Values NIMC_BOARD_ FAMILY 1100 NIMC_FLEX_MOTION 0 NIMC_VALUE_MOTION 1 NIMC_BOARD_TYPE 1120 PC_SERVO_2A 7 PC_SERVO_4A 3 PC_STEP_20X 8 PC_STEP_40X 4 PC_STEP_2CX 9 PC_STEP_4CX 5 PC_FLEXMOTION_6C 16 PCI_7314 30 PCI_7324 29 PCI_7344 28 PCI_SERVO_2A 17 PCI_SERVO_4A 11 PCI_STEP_20X 18 PCI_STEP_40X 12 PCI_STEP_2CX 19 PCI_STEP_4CX 13 PCL FLEXMOTION_6C 24 PXL_7312 22 PXL_7314 20 PXL_7322 23 PXL_7324 21 PXL_7344 27 NIMC_BUS_TYPE 1130 NIMC_ISA_BUS 0 NIMC_PCI_BUS 1 NIMC_PXI_BUS 2 NIMC_CLOSED_LOOP_CAPABLE 1150 NIMC_TRUE 1 NIMC_FALSE 0 NIMC_NUM_AXES 1510 Number of axes on the controller NIMC_BOOT_VERSION 3010 Version build code MMmmbbbb NIMC_FIRMWARE_ VERSION 3020 Version build code MMmmbbbb NIMC_DSP_VERSION 3030 Version build code MMmmbbbb NIMC_FPGA_VERSION 3040 Version build code MMmmbbbb NIMC_FPGA2_VERSION 3050 Version build code MMmmbbbb NIMC_FLEXMOTION_BOARD_CLASS 2030 NIMC_FLEX_6C 0 NIMC_FLEX_7344 1 1 This input value was used in FlexMot
217. eesotecepnenentevsnnveesbepcenvatee 8 2 HEX Enables HOME IMPUts ssecgovedssevsedeassavesvgeceswetiateasuwteesdn os antes dete sadvayeodunsbvocetyses piesi 8 4 flex cenable limits 3 65 ose ee Ae a a e n a 8 6 HEX LO ad LS WATME POS ssc ee fedgesscsdeececvses e e i e E a a 8 9 flex_read_home_input_status and flex_read_home_input_status_rtt sinen eeen rer s SE NARE E 8 11 flex_read_limit_status and flex read Mimi Stats rti Cse ade ae e EN EE E EA I a 8 13 flex set home polarity seara a E E EEA EE E TE T R S gees 8 15 ffer set AOE OO a E aa E E E EE a e aA e i n 8 17 flex set limit polarnity e ied VG Ais E E A E E ES 8 19 Breakpoint FUNCH ONS osori e eoin an aeea e e T e A e T E se lees EIRE oi en RoE 8 21 flex enable Dp vivian eee ee i ee ee 8 22 HEX Odd bp MOUS ios oceissinesentovtesveeterievtecencvuns E ARERR 8 25 flex load pos Dpise nere Rata hele Saw E E E E 8 27 flex_read_breakpoint_status and flex_read_breakpoint_status_rt1 eee eeeeeseesceceeeeeeceeeeceeeesaeceeeeceeeeneeesees 8 29 TEX SET Bp MOMO saroien enr aE E A A A T E Sii 8 31 High Speed Capture Functions ssssessssseeeeseeeseeesseersseerrserersrerertestereneerssrnresrsserresesees 8 33 flex enable NS Caps enne e a a i ao i 8 34 flex_read_cap_pos and flex read cap POS ia enen E r RTTE E 8 36 flex_read_hs_cap_status and flex read hs cap Status TONio eee ened s a E Eee S Aeee i ieoor 8 38 flex set hs c p polerissr i E E E E E 8 41 National Instruments Corporati
218. elocity Override Format status flex_load_velocity_override boardID axisOrVectorSpace overridePercentage input Vector Purpose Loads an instantaneous velocity override for an axis or vector space Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer axisOrVectorSpace u8 axis or vector space to be controlled overridePercentage 32 velocity override scale factor inputVector u8 source of the data for this function Parameter Discussion axisOrVectorSpace is the axis or vector space to be controlled overridePercentage is a single precision floating point value from 0 to 150 This value directly scales the programmed velocity The default value is 100 no effect Sy Note Internally this value is converted to a integer multiplier with a range of 0 to 384 where 256 0x100 corresponds to 100 Therefore the resolution of this function is approximately 0 4 inputVector indicates the source of the data for this function Available input Vectors include immediate OxXFF or variable 0x01 through 0x78 ay Note The conversion from floating point to fixed point is performed on the host computer not on the FlexMotion controller To load velocity override from an onboard variable you must use the integer representation of 0 to 384 National Instruments Corporation 6 91 FlexMotion Software Reference Manual Chapter 6 Trajectory Control Functions flex_lo
219. en National Instruments Corporation 10 5 FlexMotion Software Reference Manual Chapter 10 Analog amp Digital I O Functions flex_configure_pwm_output the clock settings for the two PWM outputs are 0 and 8 and 9 2 and 10 and so on in which case each output will have a different frequency On the PC and PCI FlexMotion controllers the PWM outputs PWM1 and PWM2 share bits O pin 15 and 1 pin 13 of port 3 on the 24 bit Digital I O connector When configured as PWM outputs the PWM1 and or PWM outputs cannot be used as general purpose outputs but the other bits in the port can be used simultaneously without affecting the PWM outputs On the 7344 controllers the PWM outputs have dedicated pins on the Digital I O connector To use an external clock clock values of 7 or 15 connect your external clock signal to the PCLK input on the Digital I O connector FlexMotion Software Reference Manual 10 6 www natinst com Chapter 10 Analog amp Digital 1 0 Functions flex_enable_adcs flex_enable_adcs Enable ADCs Format status flex_enable_adcs boardID reserved ADCMap Purpose Enables one or more of the unmapped ADC channels Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer reserved u8 unused input ADCMap ul6 bitmap of ADCs to enable Parameter Discussion reserved is an unused input The input value is ignored ADCMap is the bitmap
220. encoderMap Purpose Enables one or more of the unmapped encoder resources Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer encoderMap ul6 bitmap of encoders to enable Parameter Discussion encoderMap is the bitmap of encoder resources to enable DIS D14 D13 D12 Dil D10 D9 D8 D7 D6 D5 D4 D3 D2 DI DO 0 0 0 0 0 0 0 0 0 Enc 6 Enc 5 Enc 4 Enc 3 Enc 2 Enc 0 D1 through D6 1 Encoder enabled 0 Encoder disabled default Using This Function The Enable Encoders function enables one or more independent encoder channels for use as general purpose encoder inputs It has no effect on encoders that are mapped to axes and being used for axis feedback These feedback encoders are automatically enabled disabled when their corresponding axis is enabled or disabled with the Enable Axes function Bit locations corresponding to mapped encoders are ignored Typical uses for independent encoder inputs include velocity monitoring masters for master slave gearing and digital potentiometer applications National Instruments Corporation 10 9 FlexMotion Software Reference Manual Chapter 10 Analog amp Digital I O Functions flex_enable_encoders Example To enable encoders 3 and 4 on the FlexMotion controller call the Enable Encoders function with encoderMap 0x0018 which corresponds to the following bitma
221. encoders NIMC_CONDITION_POSITION_ 10 0 axes or BREAKPOINT 0x20 encoders Reserved 11 N A NIMC_CONDITION_VELOCITY_ 12 N A THRESHOLD NIMC_CONDITION_MOVE_COMPLETE 13 N A NIMC_CONDITION_PROFILE_COMPLETE 14 N A NIMC_CONDITION_BLEND_COMPLETE 15 0 axes or 0x10 vector spaces NIMC_CONDITION_MOTOR_OFF 16 N A NIMC_CONDITION_HOME_INPUT 17 N A ACTIVE NIMC_CONDITION_LIMIT_INPUT 18 N A ACTIVE NIMC_CONDITION_SOFTWARE_LIMIT_ 19 N A ACTIVE NIMC_CONDITION_PROGRAM__ 20 program COMPLETE NIMC_CONDITION_IO_PORT_MATCH 21 T O port lor 2 National Instruments Corporation 12 7 FlexMotion Software Reference Manual Chapter 12 Onboard Programming Functions flex_jump_label_on_condition mustOn is the bitmap of bits that must be True to satisfy the condition D7 D6 DS D4 D3 D2 D1 DO mustOn 7 mustOn 6 mustOn 5 mustOn 4 mustOn 3 mustOn 2 mustOn 1 mustOn 0 For DO through D7 1 Bit must be True 0 Don t care default mustOff is the bitmap of bits that must be False to satisfy the condition D7 D6 D5 D4 D3 D2 D1 DO mustOff 7 mustOff 6 mustOff 5 mustOff 4 mustOff 3 mustOff 2 mustOff 1 mustOff 0 For DO through D7 1 Bit must be False 0 Don t care default matchType selects the type of match required for the bitmap matchType Constant matchType Value NIMC_MATCH_ALL 0 NIMC_MATCH_ANY 1 NIMC_MATCH_ANY means that a match of any bit logical OR
222. ently operated in relative position mode This approach guarantees that the axes are already on the circle in the x y plane and avoids any impossible situations where the end point of the last move and the beginning of the arc move are not coincident The mode selected with the Set Operation Mode function has no effect on the arc move It can however affect the linearly interpolated vector move you might be blending into or from These functions are arranged alphabetically by function name As a quick reference a summary of the entire FlexMotion function API is in Appendix B FlexMotion Functions National Instruments Corporation 6 55 FlexMotion Software Reference Manual Chapter 6 Trajectory Control Functions flex_load_circular_arc flex_load_circular_arc Load Circular Arc Format status flex_load_circular_arc boardID vectorSpace radius startAngle travelAngle input Vector Purpose Loads parameters for making a circular arc move in a 2D or 3D vector space Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer vectorSpace u8 vector space to be controlled radius u32 arc radius in counts or steps startAngle f64 starting angle for the arc move in the xy plane in degrees travelAngle f64 travel angle for the arc move in the xy plane in degrees inputVector u8 source of the data for this function Parameter Discussion vectorSpace is the
223. er You must call the Configure Gear Master function prior to enabling master slave gearing with the Enable Gearing function The usual source of master position is either an independent encoder or ADC channel or the feedback resource of an enabled axis In either case you assign the resource not the axis as the master You must enable independent master resources with the Enable Encoders or Enable ADCs functions FlexMotion Software Reference Manual www natinst com Chapter 6 Trajectory Control Functions flex_contig_gear_master When an axis is assigned as the master its trajectory generator output not its feedback position is used as the master position command This mode of operation can eliminate the following error skew between the master and slave axes and is especially useful in gantry applications The master axis can be operating in any mode including being a slave to another master Master slave functionality of slave axes is in addition to their normal mode of operation This allows a point to point move to be superimposed upon the slave while the slave axis is in motion due to being geared to its master This functionality is useful for registration and reference offset moves Refer to the Load Gear Ratio and Enable Gearing functions for more information on master slave gearing National Instruments Corporation 6 65 FlexMotion Software Reference Manual Chapter 6 Trajectory Control Functions flex_enable_gea
224. er mapped to the axis The range for this parameter is 2 to 278 1 with a default value of 2 000 Using This Function You use the Load Counts Steps per Revolution function to load any feedback value per unit of measure For encoders this is typically in units of quadrature counts per motor revolution but can be counts per inch per cm or per any unit of measure For analog feedback it can be in units of scaled voltage Steps can be full steps half steps or microsteps depending upon how you have the external stepper driver and motor configured National Instruments Corporation 5 17 FlexMotion Software Reference Manual Chapter 5 Axis amp Resource Configuration Functions flex_load_counts_steps_rev This parameter must be correctly loaded before you call the Load Velocity in RPM Load Accel Decel in RPS sec Load Velocity Threshold in RPM Read Velocity in RPM or Find Index functions The Find Index function will search for the encoder index for one revolution as defined by this function Therefore another useful unit of measure is counts per index period Linear encoders often have indexes every inch or every centimeter Closed loop stepper functionality relies on the ratio of counts to steps and not on the absolute values of counts per revolution or steps per revolution For closed loop operation any unit of measure UOM that allows you to enter both counts per UOM and steps per UOM that are within their valid ranges wil
225. er 4 Software Overview You must set unused limit and home inputs to their inactive state with the Set Limit Input Polarity and Set Home Input Polarity functions In open loop systems once the find home sequence is complete you should reset the axis position to any desired value with the Reset Position function This procedure establishes a repeatable reference position that is as accurate as the home edge location FlexMotion Software Reference Manual 9 4 www natinst com Chapter 9 Find Home amp Index Functions flex_find_home B Note The Find Home function does not automatically zero position If this action is desired you can call the Reset Position function after the Find Home is completed In closed loop encoder based systems you can use the Find Index function to eliminate errors in the home edge location In these systems it is typically not necessary to define a specific home edge and approach direction finding the home switch is enough Refer to the Find Index function for more information Example You want to find the reverse edge of the home switch on axis 2 and approach it in the forward direction To start the search in the forward direction call the Find Home function with the following parameters axis 2 directionMap 0x0004 The directionMap value of 0x0004 corresponds to the following bitmap D15 D14 D13 D12 Dil D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO 0 0 0 0 0 0 0 0 0 0 0 0 0
226. er function allows you to change an individual PID value on the fly without having to worry about the other unchanged PID values Proportional Gain The proportional gain Kp determines the contribution of restoring force that is directly proportional to the position error This restoring force functions in much the same way as a spring in a mechanical system Each sample period the PID loop calculates the position error the difference between the instantaneous trajectory position and the primary feedback position and multiplies it by Kp to produce the proportional component of the 16 bit DAC command output The formula for calculating this proportional contribution is as follows Vout proportional 20 V 2 x Kp x Position Error An axis with zero or too small a value of Kp will not be able to hold the axis in position and will be very soft Increasing Kp stiffens the axis and improves its disturbance torque rejection However too large a value of Kp will often result in instability FlexMotion Software Reference Manual 5 22 www natinst com Chapter 5 Axis amp Resource Configuration Functions flex_load_single_pid_parameter Integral Gain The integral gain Ki determines the contribution of restoring force that increases with time and thus ensures that the static position error in the servo loop is forced to zero This restoring force works against constant torque loads to help achieve zero position error when the axis is
227. esource Configuration Functions flex_load_single_pid_parameter the Td parameter at its default value of 2 and make small adjustments as required by your motion system configuration For low inertia systems Td should be set to a small value 0 or 1 so that the derivative is calculated often enough to provide adequate damping for servo loop stability Systems with higher inertia can benefit from larger values of Td Because the higher inertia means that the position error can not change quickly it is acceptable to calculate the derivative less often This means you can use a lower value of Kd have the same effective amount of damping and the system will be smoother with less torque noise from the derivative term In higher inertia systems using a Td of zero and therefore a larger value for Kd results in increased torque noise and motor heating without any improvement in system stability Velocity Feedback Gain When an axis is configured with a secondary feedback encoder you can use that encoder for velocity feedback The velocity feedback gain Kv is used to scale this velocity feedback before it is added to the other components in the 16 bit DAC command output 3 Note Velocity feedback is only available from encoders It is not available from ADC channels It is possible to use Kv with only one feedback encoder Map the encoder resource as both the primary and secondary resource for the axis Velocity feedback gain Kv is simila
228. et_hs_cap_pol Set High Speed Capture 4 No 325 Polarity Find Home amp Index Functions flex_find_home Find Home 4 No 333 flex_find_index Find Index 4 No 334 Analog amp Digital I O Functions flex_configure_pwm_output Configure PWM Output 5 No 397 flex_enable_adcs Enable ADCs 4 No 321 flex_enable_encoders Enable Encoders 4 No 53 flex_load_dac Load DAC 4 Yes 61 flex_load_pwm_duty Load PWM Duty Cycle 4 Yes 316 flex_read_adc Read ADC 3 Yes 320 flex_read_adc_rtn flex_read_encoder Read Encoder Position 3 Yes 56 flex_read_encoder_rtn flex_read_port Read I O Port 3 Yes 319 flex_read_port_rtn flex_reset_encoder Reset Encoder Position 5 Yes 68 flex_select_signal Select Signal 5 No 402 flex_set_adc_range Set ADC Range 4 No 401 flex_set_encoder_frequency Configure Encoder Filter 4 No TI flex_set_port_direction Set I O Port Direction 4 No 311 flex_set_port_momo Set I O Port MOMO 4 No 318 flex_set_port_pol Set I O Port Polarity 4 No 314 Error amp Utility Functions flex_get_error_description Get Error Description N A flex_get_motion_board_info Get Motion Board N A Information flex_get_motion_board_name Get Motion Board Name N A flex_read_err_msg_rtn Read Error Message 3 No 2 National Instruments Corporation B 5 FlexMotion Software Reference Manual Appendix B FlexMotion Functions Table B 1 FlexMotion Function Summary Continued
229. eter Discussion limitType selects the type of limit status to read either the hardware limit switch status or the software position limit status National Instruments Corporation limitType Constant limitType Value NIMC_LIMIT_SWITCHES 0 NIMC_SOFTWARE_LIMITS 1 8 13 FlexMotion Software Reference Manual Chapter 8 Motion 1 0 Functions flex_read_limit_status and flex_read_limit_status_rin returnVector indicates the desired destination for the return data generated by this function Available return Vectors include return data to the host OxFF return data to a variable 0x01 through 0x78 and don t return data 0 Note The suffix _rtn on the function indicates that the data should be returned to the host When this calling convention is used no returnVector is required forwardLimitStatus is the bitmap of forward limit status either hardware or software D7 D6 DS D4 D3 D2 D1 DO 0 Forward 6 Forward 5 Forward 4 Forward 3 Forward 2 Forward 1 0 For D1 through D6 1 Forward limit True On 0 Forward limit False Off reverseLimitStatus is the bitmap of reverse limit status either hardware or software D7 D6 DS D4 D3 D2 D1 DO 0 Reverse 6 Reverse 5 Reverse 4 Reverse 3 Reverse 2 Reverse 1 0 For D1 through D6 1 Reverse limit True On 0 Reverse limit False Off Using This Function 3 The Read Limit Status function
230. eturnData 0 to MAX is an array of MAX longs Dim status as long Dim boardID as integer Const MAX 12 Dim returnData 0 to MAX as long National Instruments Corporation 3 7 FlexMotion Software Reference Manual Chapter 3 Programming Language Considerations boardID 1 status flex_read_trajectory_data_rtn boardID returnData 0 Trajectory data is returned in the returnData array and can be accessed by incrementing through the array User Defined Data Types Two user defined data types are used by the FlexMotion functions under Visual Basic the registry information data type registryRecord and the PID parameters data type PIDVals The registry information data type registryRecord is used by the Read Object Registry function to get the information about the object registry on the FlexMotion controller For more information on the object registry refer to Chapter 12 Onboard Programming Functions Type registryRecord device As Integer The object number type As Integer The type of object pStart As Long The address where the object is stored size As Long Size of the object End Type The PID parameters data type PIDVals is used by the Load All PID Parameters function to load the PID and PIVFF parameters for an axis For more information on PID and PIVFF parameters refer to Chapter 5 Axis amp Resource Configuration Functions Type PIDVals kp As Integer Proportional Gain ki As Integer Inte
231. eturnVector value variable1 gt gt logicalShift The result can be returned to a new variable or to the input variable returned to the host computer or thrown away In all cases the condition codes are set according to the resulting value GREATER THAN LESS THAN or EQUAL to zero This function actually performs an arithmetic rather than logical shift if the variable is a signed 32 bit value 132 Negative values are sign extended when shifted to the right You can use this function to perform division or scaling of signed or unsigned numbers In this case the function effectively performs the following returnVector variablel x 2 osicalShift Example 1 If the value in variable1 is 0x0000 F002 and logicalShift 1 this function returns 0x00007801 Example 2 If the value in variable1 is OXFFFF F002 and logicalShift 1 this function returns OxFFFFF801 The sign of the value is preserved by sign extension National Instruments Corporation 12 37 FlexMotion Software Reference Manual Chapter 12 Onboard Programming Functions flex_mult_vars flex_mult_vars Multiply Variables Format status flex_mult_vars boardID variable1 variable2 return Vector Purpose Multiplies the values in the two variables and returns the result Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer variable1 u8 first operand variable2 u8 second operand return
232. evant to your application Doing this improves performance by reducing the number of interrupts the handler has to process and reject as irrelevant National Instruments Corporation 13 17 FlexMotion Software Reference Manual Chapter 13 Advanced Functions flex_set_irq_mask This function controls interrupt event types not individual per axis or vector space events Upon receiving an interrupt of a certain type the interrupt handler must read the desired status from the FlexMotion controller to further resolve the event to the particular axis vector space program and so on and then decide on the event reaction FlexMotion must have an interrupt line selected and enabled before any interrupts will be generated This is done during controller configuration when FlexMotion is first installed in your system Once an interrupt line is enabled the Set Interrupt Event Mask function can be used to further configure the interrupting events 3 Note To disable all interrupts on the fly mask them all off by setting mask 0 This has the same effect as reinstalling the controller with the interrupt line disabled FlexMotion Software Reference Manual 13 18 www natinst com Error Codes This appendix summarizes the error codes returned by the FlexMotion software Each FlexMotion function returns a status that indicates whether the function executed successfully A non zero return status indicates that the function failed to execute This
233. ex_read_vs_pos 6 41 to 6 42 flex_read_vs_pos_rtn 6 41 to 6 42 flex_reset_pos 6 43 to 6 44 flex_set_op_mode 6 45 to 6 48 flex_wait_for_blend_complete 6 49 to 6 51 flex_wait_for_move_complete 6 52 to 6 54 gearing functions 6 63 to 6 71 flex_config_gear_master 6 64 to 6 65 flex_enable_gearing 6 66 to 6 67 flex_enable_gearing_single_axis 6 68 to 6 69 flex_load_gear_ratio 6 70 to 6 71 summary table B 3 summary table B 1 to B 2 trajectory parameters 4 17 to 4 20 acceleration in RPS s 4 19 arc angles in degrees 4 19 to 4 20 initializing 4 13 velocity in counts s or steps s 4 18 velocity in RPM 4 18 velocity override in percent 4 19 trajectory types and modes 4 14 to 4 17 electronic gearing 4 16 linear and circular interpolation 4 16 move blending 4 15 pull in moves 4 17 trapezoidal point to point position control 4 14 to 4 15 velocity control 4 15 trapezoidal point to point position control 4 14 to 4 15 FlexMotion Software Reference Manual Index U u8 data type not supported Visual Basic for Windows 3 6 to 3 7 user defined data types programming considerations 3 3 Visual Basic for Windows 3 8 to 3 9 utility functions See error amp utility functions V ValueMotion to FlexMotion function cross reference table B 7 to B 10 variable data types 3 1 to 3 3 arrays 3 2 primary types table 3 2 structures and other user defined data types 3 3 variable manipulation functions See
234. ey 8 357 7695 Netherlands 0348 433466 Norway 32 27 73 00 Singapore 2265886 Spain Barcelona 93 582 0251 Spain Madrid 91 640 0085 Sweden 08 587 895 00 Switzerland 056 200 51 51 Taiwan 02 2377 1200 United Kingdom 01635 523545 FlexMotion Software Reference Manual E 2 www natinst com Glossary Prefix Meanings Value n nano 10 u micro 10 6 m milli 10 3 c centi 10 k kilo 102 M mega 10 Numbers Symbols percent plus or minus positive of or plus negative of or minus per a degree Q ohm percent A A amperes absolute mode treat the target position loaded as position relative to zero 0 while making a move absolute position position relative to zero National Instruments Corporation G 1 FlexMotion Software Reference Manual Glossary acceleration active high active low A D address axis b base address binary buffer bus byte C CCW closed loop A measurement of the change in velocity as a function of time Acceleration describes the period when velocity is changing from one value to another From a stop zero velocity to a desired speed target velocity or vice versa a signal is active when its value goes high 1 a signal is active when its value goes low 0 analog to digital character code that identifies a specific location or series of locations in memory the unit which is used to control
235. ference between the instantaneous commanded trajectory position and the feedback position If the following error increases beyond the maximum allowable value entered called the following error trip point the motors trip out on following error that is are killed thus preventing the axis from running away the condition of a motor when power is de energized and the motor shaft is free to turn with only frictional forces to impede it full step mode of a stepper motor for a two phase motor this is done by energizing two windings or phases at a time www natinst com function declaration function library Gnd GND H half step hex holding torque home switch home position input host computer hybrid stepper motor National Instruments Corporation G 5 Glossary a specification showing the return value and parameters for a function a collection of related functions packaged into a dynamic link library DLL for Windows or a library file for DOS ground ground Half step mode of a stepper motor for a two phase motor this is done by alternately energizing two windings and then only one In half step mode alternate steps are strong and weak but there is significant improvement in low speed smoothness over the full step mode hexadecimal The force that a motor can provide or withstand while still remaining in a fixed stop location without any rotation translation or movement A reference positio
236. g and returning structures of data refer to the Language Specific Considerations section of this chapter Function Return Status Every FlexMotion function is of the following form status function_name parameter 1 parameter 2 parameter 7 Each function returns a value in the status variable that indicates the success or failure of the function A returned status of NIMC_noError 0 indicates that the function was sent to the FlexMotion controller successfully A non zero status indicates that the function was not executed because of an error Refer to Appendix A Error Codes for a complete description of errors and possible causes In addition to errors returned in the status variable modal errors can occur when the controller executes the function These modal errors have to be explicitly read from the Error Stack on the FlexMotion controller Refer to the Errors and Error Handling section of Chapter 4 Software Overview for more information on modal errors and the Error Stack For C C users the header file fLexmotn h provides the FlexMotion function prototypes All the functions in flexmotn h have FLEXFUNC as the return status FLEXFUNC defines the return data type status Under Windows FLEXFUNC also defines the calling convention of the FlexMotion dynamic link library FLEXFUNC defines the return status of the FlexMotion functions to be 132 In addition FLEXFUNC defines the calling convention as standard ___std
237. ged call the Set Inhibit MOMO function with the following parameters mustOn 0x02 which corresponds to the following bitmap D7 D6 DS D4 D3 D2 D1 DO 0 mustOn 6 mustOn 5 mustOn 4 mustOn 3 mustOn 2 mustOn 1 0 0 0 0 0 0 0 1 0 mustOff 0x40 which corresponds to the following bitmap D7 D6 D5 D4 D3 D2 D1 DO 0 mustOff 6 mustOff 5 mustOff 4 mustOff 3 mustOff 2 mustOff 1 0 0 1 0 0 0 0 0 0 FlexMotion Software Reference Manual 8 18 www natinst com Chapter 8 Motion 1 0 Functions flex_set_limit_polarity flex_set_limit_polarity Set Limit Input Polarity Format status flex_set_limit_polarity boardID forwardPolarityMap reversePolarityMap Purpose Sets the polarity of the forward and reverse limit inputs as either inverting active low or noninverting active high Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer forwardPolarityMap u8 bitmap of active polarities for the forward limits reversePolarityMap u8 bitmap of active polarities for the reverse limits Parameter Discussion forwardPolarityMap is the bitmap of active polarities for the forward limit inputs D7 D6 DS D4 D3 D2 D1 DO 0 Forward 6 Forward 5 Forward 4 Forward 3 Forward 2 Forward 1 0 For D1 through D6 1 Inverting default 0 Noninverting reversePolarityMap is th
238. gned by Measurement amp Automation Explorer axisOrVectorSpace u8 axis or vector space selector statusType ul6 status selector returnVector u8 destination for the return data Output Name Type Description status ul6 bitmap of selected status for all axes Parameter Discussion axisOrVectorSpace is the axis or vector space selector For multi axis status use 0 zero For multi vector space status use 0x10 statusType is the selector for the type of trajectory status to be read statusType Constant statusType Value axisOrVectorSpace Value NIMC_RUN_STOP_STATUS 0 0 only NIMC_MOTOR_OFF_STATUS 1 0 only NIMC_VELOCITY_THRESHOLD_STATUS 2 0 only NIMC_MOVE_COMPLETE_STATUS 3 0 or 0x10 National Instruments Corporation 6 35 FlexMotion Software Reference Manual Chapter 6 Trajectory Control Functions flex_read_trajectory_status and flex_read_trajectory_status_rtn status is the bitmap of multi axis or vector space status D15 D14 D13 D12 Dil D10 D9 D8 D7 D6 DS D4 D3 D2 D1 DO XXX XXX XXX XXX XXX XXX XXX XXX XXX Axis Axis Axis Axis Axis Axis XXX 6 5 4 3 2 1 D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 DS D4 D3 D2 D1 DO XXX XXX XXX XXX XXX XXX XXX XXX XXX XXX XXX XXX VS 3 VS 2 VS1 XXX 3 D1 through D6 axes or D1 through D3 vector spaces For NIMC_RUN_STOP_STATUS 1 Axis run
239. gral Gain ilim As Integer Integration Limit kd As Integer Derivative Gain td As Integer Derivative Sample Period kv As Integer Velocity Gain aff As Integer Acceleration Feedforward vff As Integer Velocity Feedforward End Type FlexMotion Software Reference Manual 3 8 www natinst com Chapter 3 Programming Language Considerations Example While using user defined data types pass the data types by reference to the function Dim boardID as integer Dim axis as integer Dim pidvalues As PIDVals Dim inputVector as integer pidvalues kp 100 pidvalues ki 0 pidvalues ilim 1000 1000 pidvalues td 2 pidvalues kd pidvalues kv 0 ll coo pidvalues aff pidvalues vff boardID 1 axis 1 inputVector amp HFF status flex_load_loop_params boardID axis pidvalues inputVector Considerations when Using Read Functions Read functions return data from the FlexMotion controller There are two types of Read functions The first takes a return vector and returns the data to a general purpose variable in onboard memory or the Return Data Buffer RDB This type of function is typically used in conjunction with onboard programming The second type returns the data by reference into a variable in your application The functions that return data by reference have a suffix _rtn This is the more commonly used type of function For more information on return vectors refer to the Input and Retu
240. gs Brushless type motors require the advance information of position and direction in order to accurately provide correct waveform switching sequences Brushless motors typically use hall effect type sensors to generate the commutation control waveforms This is the measure of a closed loop system s response and is typically represented as a frequency range or an update period for the PID loop in a digital servo controller For example if a PID loop has an update rate of 250 us it would have a bandwidth of 4 kHz central processing unit clockwise implies direction of rotation of the motor direct current A measurement of the change in velocity as a function of time Deceleration describes the period when velocity is changing from one value to another From a stop zero velocity to a desired speed target velocity or vice versa Deceleration is also considered negative acceleration assigned totally for a particular function digital ground a group of digital input output signals dual inline package Dynamic Link Library for Windows Provides the API Application programming interface for the motion controllers software that controls a specific hardware device such as a DAQ board or a motion controller FlexMotion Software Reference Manual Glossary E encoder encoder resolution FIFO filter parameters filtering flash following error trip point freewheel full step FlexMotion Software Reference Manu
241. gured inhibit output is active See the Configure Inhibit Outputs function for more information NIMC_VELOCITY_THRESHOLD_STATUS The Velocity Threshold status indicates whether the axis velocity is above True or below False the programmed velocity threshold For information about setting and using a velocity threshold see the Load Velocity Threshold function NIMC_MOVE_COMPLETE_STATUS The Move Complete status indicates whether an axis or vector space is in the move complete state which is the default when an axis or vector space is idle While a move is in progress the move complete status will be false For a move to be complete on a vector space the move complete status must be true on all axes in the vector space During a vector space move if one axis in a vector space trips out on a following error that axis is killed and the move complete status remains false The other axes in the vector space decelerate to a stop and the move complete status is true For the vector space as a whole the move complete status is false because the move did not complete properly Use the Configure Move Complete Criteria function to change the conditions that cause a move to be evaluated as complete For example by changing the move complete criteria to be profile complete default OR motor off the previous situation would result in a true move complete status when one of the axes in the vector space tripped out on a following error B Note Y
242. h 6 or directly on encoders 0x21 through 0x24 3 Note Breakpoints are only available on encoders 1 through 4 resources 0x21 through 0x24 breakpointModulus is the breakpoint modulus value in quadrature counts The range for modulus is 0 to 23 1 A modulus of zero 0 effectively disables the modulo function default inputVector indicates the source of the data for this function Available input Vectors include immediate OXFF or variable 0x01 through 0x78 Using This Function The Load Breakpoint Modulus function loads a modulus value for the axis or encoder specified This value is used when you enable a breakpoint in modulo mode Breakpoint modulus is double buffered and not actually used until you execute the Enable Breakpoint function National Instruments Corporation 8 25 FlexMotion Software Reference Manual Chapter 8 Motion 1 0 Functions flex_load_bp_modulus Modulo breakpoints are used in applications that require repetitive breakpoints equally spaced When using a breakpoint modulus it is no longer necessary to load ever increasing or decreasing breakpoint positions It is still necessary however to re enable the breakpoint after each use FlexMotion 6C Modulo Breakpoints On FlexMotion 6C controllers the breakpoint modulus defines repeat periods When a modulo breakpoint is enabled the loaded breakpoint position is interpreted with respect to the beginning of the active repeat period for the encoder Ex
243. h sequence to find a home switch approaching and stopping on a specific edge Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer axis u8 axis to be controlled directionMap ul6 bitmap setting the search direction home edge and final find direction Parameter Discussion axis is the axis to be controlled directionMap is the bit map of search direction home edge and final find direction D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO 0 0 0 0 0 0 0 0 0 0 0 0 0 Edge Srch Final For DO Final approach direction Final 1 Reverse approach 0 Forward approach For D1 Initial search direction Srch 1 Search reverse 0 Search forward For D2 Home edge to stop on Edge 1 Reverse edge 0 Forward edge FlexMotion Software Reference Manual 9 2 www natinst com Chapter 9 Find Home amp Index Functions flex_find_home Using This Function The Find Home function configures and initiates a search sequence for a home switch or other sensor You can specify the initial search direction the edge rising or falling of the home signal to stop on and the direction you want to be travelling when you approach the specified home edge When the search direction is forward the axis starts moving in the forward direction using the previously loaded values for acceleration velocity and s curve If the de
244. he Set Limit Input Polarity function Active limit inputs also prohibit attempts to start motion that would cause additional travel in the direction of the limit You can also use limit inputs as general purpose inputs and read their status with the Read Limit Status function 3 Note For the end of travel limits to function correctly the forward limit switch or sensor must be located at the positive count up end of travel and the reverse limit at the negative count down end of travel An active and enabled limit input transition on an axis that is part of a vector space move causes that axis to halt stop and the other axes in the vector space to decelerate to a stop Similarly software limits are often used to restrict the range of travel further and avoid ever hitting the hardware limit switches An enabled software limit causes the axis to smoothly decelerate to a stop when the limit position is reached or exceeded Even when disabled you can poll the software limits by the host computer or use an onboard program to warn of an out of range position For information about loading and reading the forward and reverse software limits see the Load Software Limit Positions and the Read Limit Status functions Hardware limit inputs and software position limits are enhancements on the FlexMotion controller and are not required for basic motion control You can operate all motion control functions without enabling or using these limits except the F
245. he art user interface and a powerful graphical programming language The FlexMotion VI Library a set of VIs for using LabVIEW with National Instruments FlexMotion hardware is available separately LabWindows CVI features interactive graphics a state of the art user interface and uses the ANSI standard C programming language The functions that comprise the FlexMotion software library can be called from LabWindows CVI Using LabVIEW BridgeVIEW or LabWindows CVI software will greatly reduce the development time for your motion control application FlexMotion Software Reference Manual 1 2 www natinst com Chapter 1 Introduction FlexMotion Language Support The FlexMotion software library is a DLL in Windows 2000 NT 98 95 You can use the Windows DLL with any Windows development environment that can call Windows DLLs Chapter 2 Building Applications with the FlexMotion Software Library provides more specific information on building Windows applications with Microsoft Visual C C Microsoft Visual Basic and Borland C C National Instruments Corporation 1 3 FlexMotion Software Reference Manual Building Applications with the FlexMotion Software Library This chapter describes the fundamentals of creating FlexMotion applications under Windows 2000 NT 98 95 The FlexMotion Windows Libraries This section contains general information about building FlexMotion applications describes the nature of the FlexMotion files
246. he function context Therefore more errors can be caught as non modal errors When you use the Communicate entry point all errors except packet errors bad Board ID error and communication failure are reported as modal errors National Instruments Corporation 4 23 FlexMotion Software Reference Manual Chapter 4 Software Overview Onboard Programs Functions stored in onboard programs are checked twice for errors The first time is when you are storing the function in the program You can detect both non modal and modal errors during program storage depending on the level of command FIFO usage and whether you are calling the individual API entry points or calling the Communicate function When the program is run the stored functions are again checked for errors Only modal errors are generated during program execution 3 Note Ifthe host or onboard program is correctly written you should not see any packet or modal errors These error handling structures are used mostly during application development and debugging Fatal Hardware and Communication Errors There are a few errors that if detected indicate a severe or fatal error condition These include but are not limited to NIMC_boardFailureError NIMC_watchdogTimeoutError NIMC_FPGAProgramError NIMC_DSPInitializationError NIMC_JOInitializationError and NIMC_readyToReceiveTimeoutError Refer to Appendix A Error Codes for a complete list of error codes and possible causes
247. he motion of other axes that are not explicitly referenced in the function If an axis that is part of a vector space is individually killed the other axes in the vector space are decel stopped If a slave axis is killed master slave gearing is automatically disabled Finally if a program attempts to start axes that have been manually stopped by the host computer it is overruled and put into the paused state Example 1 To execute a multi axis kill stop on all axes call the Stop Motion function with the following parameters axisOr VectorSpace 0 stopType NIMC_KILL_STOP axisOrVSMap 0x7E The axisOrVSMap value of 0x7E corresponds to the following bitmap D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO 0 0 0 0 0 0 0 0 0 Axis Axis Axis Axis Axis Axis 0 6 5 4 3 2 1 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 0 FlexMotion Software Reference Manual 7 10 www natinst com Chapter 7 Start amp Stop Motion Functions flex_stop_motion Example 2 To decelerate stop motion on vector space 1 call the Stop Motion function with the following parameters axisOrVectorSpace 0x11 stopType NIMC_DECEL_STOP axisOr VSMap Don t care National Instruments Corporation 7 11 FlexMotion Software Reference Manual Motion 1 0 Functions This chapter contains detailed descriptions of functions used to setup and control the motion I O features of the FlexMotion controller It include
248. he slave axis or axis 3 Note While changing an absolute gear ratio on the fly is allowed you should be careful because the slave axis will jump with full torque to the position defined by the new ratio even when the master position has not changed The Load Gear Ratio function must be called prior to enabling master slave gearing with the Enable Gearing function Often the positions of the master and slave are reset to zero or some known position prior to enabling gearing though this is not always required The execution of the Enable Gearing function stores both positions as offsets and gears them from that point onward Because relative gearing does not maintain an absolute relationship between master and slave positions over time you can use periodic calls to this function with the appropriate absolute gear ratio to force the slave back into gearing alignment Master slave functionality of slave axes is in addition to their normal mode of operation This allows a point to point move to be superimposed upon the slave while the slave axis is in motion due to being geared to its master This functionality is useful for registration and reference offset moves Refer to the Configure Gear Master and Enable Gearing functions for more information on master slave gearing Example To load a slave to master gear absolute gear ratio of 3 2 call the Load Gear Ratio function with absoluteOrRelative 0 absolute ratioNumerator 3 and ratioDenomin
249. he time period between samples The Acquire Trajectory Data and Read Trajectory Data functions are used to acquire and read back time sampled position and velocity data for analysis and display These functions implement a digital oscilloscope that is useful during system setup PID tuning and general motion with data acquisition synchronization Once started this data acquisition operates autonomously in the background as a separate task Motion control operates normally and you can execute other motion functions simultaneously Depending upon the programmed time period and the total number of samples this acquisition task can run anywhere from a few milliseconds to tens of hours Caution Wait an appropriate amount of time before attempting to read back the trajectory data Example To acquire 100 samples of data on axes 1 2 and 5 at 10 ms sample call the Acquire Trajectory Data function with the following parameters axisMap 0x0026 corresponding to the following bitmap D15 D14 D13 D12 Dil D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO 0 0 0 0 0 0 0 0 0 Axis Axis Axis Axis Axis Axis 0 6 5 4 3 2 1 0 0 0 0 0 0 0 0 0 0 1 0 0 1 1 0 numberOfSamples 100 timePeriod 10 FlexMotion Software Reference Manual 6 74 www natinst com flex_load base vel Chapter 6 Trajectory Control Functions flex_load_base_vel Load Base Velocity Format status flex_load_base_vel boardID axi
250. her memory object stored in memory 3 Note This function must be executed while the object is still in RAM Once the object is saved to ROM its description cannot be changed The description is limited to 32 characters extra characters are ignored You can retrieve the stored description with the Read Memory Object Description function National Instruments Corporation 12 25 FlexMotion Software Reference Manual Chapter 12 Onboard Programming Functions flex_object_mem_manage flex_object_mem_manage Object Memory Management Format status flex_object_mem_manage boardID object operation Purpose Saves deletes or frees programs or other memory objects in RAM and ROM Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer object u8 program or other memory object operation ul6 operation to perform on the object Parameter Discussion object is a program or other memory object stored in onboard RAM or ROM operation is the operation to perform on the memory object operation Constant operation Value NIMC_OBJECT_SAVE 0 NIMC_OBJECT_DELETE 1 NIMC_OBJECT_FREE 2 Using This Function The Object Memory Management function is used to save to ROM delete from ROM or free from RAM a program or other memory object Objects saved to non volatile Flash ROM are available for use at any future time even after power cycles To sa
251. his icon denotes a caution which advises you of precautions to take to avoid injury data loss or a system crash This icon denotes a warning which advises you of precautions to take to avoid being electrically shocked Refers to the PCI 7344 PXI 7344 and FW 7344 These controllers have four axes Bold text denotes parameter names Italic text denotes variables emphasis a cross reference or an introduction to a key concept This font also denotes text that is a placeholder for a word or value that you must supply Text in this font denotes text or characters that you should enter from the keyboard sections of code programming examples and syntax examples This font is also used for the proper names of directories functions variables filenames and extensions and code excerpts Refers to the PC FlexMotion 6C and the PCI FlexMotion 6C These controllers have six axes Unless otherwise noted this phrase refers to both the FlexMotion Software Reference Manual and the FlexMotion Software Reference Online Help FlexMotion Software Reference Manual About This Manual Related Documentation The following documents contain information that you might find helpful as you read this manual e Your motion controller user manual e FlexMotion Software Reference Online Help FlexMotion Software Reference Manual xvi www natinst com Introduction This chapter gives an overview of the FlexMotion software lists what you
252. his manual 3 Note The Find Index function does not automatically zero the position If this action is desired you can call the Reset Position function after the Find Index is completed FlexMotion Software Reference Manual 9 8 www natinst com Analog amp Digital 1 0 Functions This chapter contains detailed descriptions of functions used to control the general purpose analog and digital I O resources on the FlexMotion controller These resources include up to 32 bits of general purpose digital T O PWM outputs RTSI lines and any extra encoders ADC channels and DAC outputs that are not mapped to an axis The functions are arranged alphabetically by function name The 32 bits of digital I O are available on the Digital I O Connector on 7344 motion controllers On the PC and PCI FlexMotion controllers the 24 bits of digital I O are available on the auxiliary 24 bit digital I O connector These bits are organized into 8 bit ports that you can configure as inputs or outputs on a port wise basis or on a bitwise basis on the 7344 controllers Each bit has individually programmable polarity that you can configure as inverting active low or noninverting active high You can use the general purpose digital I O for system integration applications including operator panel switch inputs and outputs relay and solenoid activation trigger I O between other controllers and or instruments in the system and so on You can use encoders ADC cha
253. home_input_status_rtn boardID homeStatus Purpose Reads the instantaneous status of the home inputs Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer returnVector u8 destination for the return data Output Name Type Description homeStatus ul6 bitmap of the logical state of the home inputs Parameter Discussion returnVector indicates the desired destination for the return data generated by this function Available return Vectors include return data to the host OxFF return data to a variable 0x01 through 0x78 and don t return data 0 ays Note The suffix _rtn onthe function indicates that the data should be returned to the host When this calling convention is used no returnVector is required National Instruments Corporation 8 11 FlexMotion Software Reference Manual Chapter 8 Motion 1 0 Functions flex_read_home_input_status and flex_read_home_input_status_rtn homeStatus is the bitmap of the logical state of the home inputs D15 D14 D13 D12 Dil D10 D9 D8 D7 D6 DS D4 D3 D2 D1 DO XXX XXX XXX XXX XXX XXX XXX XXX XXX Home6 HomeS Home4 Home3 Home2 Homel XXX For D1 through D6 1 Home input True On 0 Home input False Off Using This Function The Read Home Input Status function returns the logical state of the home inputs You can execute
254. host computer before calling this function If NULL or 0 is passed in the charArray parameter the size of a character array required to hold the controller name is returned in the sizeOfArray parameter You can use this feature when you want to allocate only the memory necessary to hold the controller name This function is then called twice once to get the required array size and once again to actually retrieve the name The number of characters required for the character array is always one more than the actual number of characters in the controller name due to the NULL terminator at the end of the string For example the controller name PXI 7324 is eight characters long so you must provide a 9 byte character array to hold this name sizeOfArray must be nine or greater as an input and upon successful copy of the controller name a value of nine is placed in sizeOfArray FlexMotion Software Reference Manual 11 10 www natinst com Chapter 11 Error amp Utility Functions flex_read_err_msg_rtn flex_read_err_msg_rtn Read Error Message Format status flex_read_err_msg_rtn boardID commandID resourceID errorCode Purpose Reads the most recent modal error from the Error Message Stack Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer Output Name Type Description commandID ul6 command ID number resourceID ul6 resource ID number errorCo
255. ical Shift Variable Format status flex_Ishift_var boardID variable1 logicalShift return Vector Purpose Performs a logical shift on the value in a variable and returns the result Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer variable1 u8 variable holding the value to be shifted logicalShift 18 number of bits to shift return Vector u8 destination for the result Parameter Discussion variable1 is the variable holding the value to be shifted Valid variables are 0x01 through 0x78 logicalShift is the number of bits to shift A positive logicalShift value shifts variable1 to the left and a negative value shifts variable 1 to the right The shift range is 31 through 31 bits return Vector indicates the desired destination for the result of this function Available return Vectors include return data to the host OxFF return data to a variable 0x01 through 0x78 and don t return data 0 Using This Function The Logical Shift Variable function performs a logical shift on the value in the selected variable and returns the result to the destination specified by the returnVector For positive logicalShift values returnVector value variablel value lt lt logicalShift FlexMotion Software Reference Manual 12 36 www natinst com Chapter 12 Onboard Programming Functions flex_Ishift_var For negative logicalShift values r
256. igure the operation of trajectory generators and set status thresholds These parameters include following error blend factor gear master ratio and enable position modulus velocity threshold torque limit torque offset and software limit positions Unlike double buffered parameters if you change these parameters on the fly they take effect immediately Also in this category are functions to reset position to zero or another desired value and to force a velocity override During a move you can read the instantaneous values of position velocity following error and DAC output torque There are also functions to read the following trajectory status move complete profile complete blend complete motor off following error trip velocity threshold and DAC limit status These trajectory values and status are used for move sequencing system coordination and overall monitoring purposes Finally FlexMotion offers a set of functions to acquire time sampled position and velocity data into a large onboard buffer and then later read it out for analysis and display These functions implement a digital oscilloscope that is useful during system setup PID tuning and general motion with data acquisition synchronization As a quick reference a summary of the entire FlexMotion function API is in Appendix B FlexMotion Functions National Instruments Corporation 6 1 FlexMotion Software Reference Manual Chapter 6 Trajectory Control Function
257. ile in your source code Refer to Chapter 2 Building Applications with the FlexMotion Software Library for the header file appropriate to your operating system and programming environment C C for Windows Data Returned by Reference The FlexMotion functions that return data do so in variables whose address is passed into the function Example To read position on an axis you have to pass the address of the variable position i32 status i132 position u8 boardID 1 u8 axis 1 status flex_read_pos_rtn boardID axis amp position FlexMotion Software Reference Manual 3 4 www natinst com Chapter 3 Programming Language Considerations The data position for axis one is returned in the position variable Data Returned in Arrays While passing an array to a FlexMotion function you need to pass the address of the beginning of the array Example You would pass returnData as your parameter where returnData isan array of size MAX 132s define MAX 12 i32 status u8 boardID i32 returnData MAX boardID 1 status flex_read_trajectory_data_rtn boardID returnData Trajectory data is returned in the returnData array and can be accessed by incrementing through the array FlexMotion Data Structures Two data structures are used by the FlexMotion functions The registry information data structure REGISTRY and the PID parameters data structure PID The registry information data structure REGISTRY
258. in a controlled fashion FlexMotion Software Reference Manual 6 66 www natinst com Chapter 6 Trajectory Control Functions flex_enable_gearing You can call the Enable Gearing function at any time to disable gearing or to re enable gearing with new absolute gearing reference positions If gearing is disabled on a moving axis the axis immediately stops but remains active If the slave axis was also implementing a superimposed move the superimposed move decelerates to a stop Executing the Stop Motion function on a slave axis stops the axis and automatically disables gearing for that axis Find Home and Find Index functions cannot be executed on slave axes with gearing enabled An error will be generated and the find sequence will not start National Instruments Corporation 6 67 FlexMotion Software Reference Manual Chapter 6 Trajectory Control Functions flex_enable_gearing_single_axis flex_enable_gearing_single_axis Enable Gearing Single Axis Format status flex_enable_gearing_single_axis boardID axis enable Purpose Enables a slave axis for master slave gearing Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer axis u8 axis to be enabled or disabled enable ul6 enable disable value Parameter Discussion axis is the axis to be enabled or disabled enable indicates whether to enable or disable the slave axis for gearing 1 Gearing enab
259. ind Home function which requires enabled limit and home inputs for operation Find Home does not require enabled software limits AA Note If any axis in a vector space move exceeds an enabled software limit position all axes in the vector space decelerate to a stop National Instruments Corporation 8 7 FlexMotion Software Reference Manual Chapter 8 Motion 1 0 Functions flex_enable_limits Example To enable the forward and reverse software limits on axes 5 and 6 call the Enable Limits function with the following parameters limitType NIMC_SOFTWARE_LIMITS forwardLimitMap 0x60 which corresponds to the following bitmap D7 D6 D5 D4 D3 D2 D1 DO 0 Forward 6 Forward 5 Forward 4 Forward 3 Forward 2 Forward 1 0 0 1 1 0 0 0 0 0 reverseLimitMap 0x60 which corresponds to the following bitmap D7 D6 DS D4 D3 D2 D1 DO 0 Reverse 6 Reverse 5 Reverse 4 Reverse 3 Reverse 2 Reverse 1 0 0 1 1 0 0 0 0 0 This function call also disables the forward and reverse software limits on axes 1 through 4 It has no effect on the enable disable state of the forward and reverse limit switch inputs You can enable these limit inputs with another call to this function FlexMotion Software Reference Manual 8 8 www natinst com flex_load_sw_lim_pos Chapter 8 Motion 1 0 Functions flex_load_sw_lim_pos Load Software Limit Positions Format status flex_load_sw_lim
260. ion The Read Variable function reads the value of the selected variable and returns it to the destination specified by the returnVector returnVector value variablel value or value variablel value The condition codes are set according to the value read GREATER THAN LESS THAN or EQUAL to zero FlexMotion Software Reference Manual 12 42 www natinst com Chapter 12 Onboard Programming Functions flex_sub_vars flex_sub_vars Subtract Variables Format status flex_sub_vars boardID variablel variable2 returnVector Purpose Subtracts the value of second variable from the value of the first variable and returns the result Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer variablel u8 first operand variable2 u8 second operand returnVector u8 destination for the result Parameter Discussion variablel is the variable holding of the first operand Valid variables are 0x01 through 0x78 variable2 is the variable holding the second operand Valid variables are 0x01 through 0x78 returnVector indicates the desired destination for the result of this function Available return Vectors include return data to the host OxFF return data to a variable 0x01 through 0x78 and don t return data 0 Using This Function The Subtract Variables function subtracts the value of second variable from the value of the first variable and retur
261. ion enhances the integrity of data communication speeds the processing of the transferred command and data and organizes operation into powerful high level functions Each word in a packet is sent over the bus after checking the Ready to Receive RTR handshaking bit in the CSR See the Read Communication Status function for the status bitmap and more information on the status reported in the CSR Command and data packets are checked for packet format errors as they are received by the controller If a packet error is detected it is immediately reported by setting an error bit in the CSR Once the packet is received without error the command and data is stored in a FIFO buffer This FIFO can hold up to 16 commands The FlexMotion RTOS will process commands whenever it is not busy with higher priority tasks In the unlikely event that the FIFO fills up before any commands can be processed the host will be held off with a Not Ready to Receive condition Each command is processed and a determination is made whether to execute the command immediately or store it away in a program to be executed later Commands are also checked for data and modal sequence errors at this time Modal errors are flagged by setting the Error Message bit in the CSR This modal error is functionally different from the packet communication error previously described See the Errors and Error Handling section of this chapter for more information Return Data Buffe
262. ion software 4 0 It is not a valid value in the current version of FlexMotion National Instruments Corporation FlexMotion Software Reference Manual Chapter 11 Error amp Utility Functions flex_get_motion_board_info Using This Function The Get Motion Board Information function returns selected information about ValueMotion and FlexMotion controllers including controller type and family bus type number of axes and so on FlexMotion also has four information types for retrieving the version numbers and release dates of the firmware segments loaded in the onboard Flash ROM All firmware segments are field upgradable using the Update Firmware option in Measurement amp Automation Explorer Versions are returned in a version build code format Version build code MMmmbbbb where MM the major version number mm the minor version number and bbbb the build number You can use this information to verify that your FlexMotion controller has the latest firmware downloaded on it FlexMotion Software Reference Manual 11 8 www natinst com Chapter 11 Error amp Utility Functions flex_get_motion_board_name flex_get_motion_board_name Get Motion Board Name Format status flex_get_motion_board_name boardID charArray sizeOfArray Purpose Gets the motion controller name as an ASCII character array Parameters Input Name Type Description boardID u8 as
263. is basis Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer axis u8 axis to read return Vector u8 destination for the return data Output Name Type Description axisStatus ul6 bitmap of per axis status Parameter Discussion axis is the axis to read returnVector indicates the desired destination for the return data generated by this function Available return Vectors include return data to the host OxFF return data to a variable 0x01 through 0x78 and don t return data 0 ay Note The suffix _rtn on the function indicates that the data should be returned to the host When this calling convention is used no returnVector is required FlexMotion Software Reference Manual 6 20 www natinst com Chapter 6 Trajectory Control Functions flex_read_axis_status and flex_read_axis_status_rin axisStatus is a bitmap of motion status for the axis D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO MC BC Dir HSC IF HF BP VT XXX S W Home Limit FE MOff PC R S Limit DO Run Stop Status R S 1 Axis running 0 Axis stopped D1 Profile Complete PC 1 Profile complete 0 Profile generation in process D2 Motor Off Moff 1 Motor off killed 0 Motor on D3 Following Error FE 1 Axis tripped on following error 0 Ok D4 Limit Input Limit 1 Forward or reverse limit input active 0 Neither limit acti
264. is effectively disabled until a threshold is loaded inputVector indicates the source of the data for this function Available input Vectors include immediate OxFF or variable 0x01 through 0x78 Using This Function The Load Velocity Threshold function establishes a velocity threshold for the specified axis which can then be monitored with the Read Trajectory Status function The velocity threshold status is True when the absolute value of filtered axis velocity is above the threshold and False when the velocity drops below the threshold Velocity threshold is a status and does not have to be enabled or disabled Loading a maximum value effectively disables the feature because the status will always be off Increasing the velocity filter time constant with the Configure Velocity Filter function will National Instruments Corporation 6 89 FlexMotion Software Reference Manual Chapter 6 Trajectory Control Functions flex_load_vel_threshold reduce quantization noise in the threshold status but at the expense of increasing threshold status latency Velocity threshold is typically used to monitor the acceleration and deceleration trajectory periods to see when or if an axis is up to speed You can then change PID tuning or other parameters as a function of velocity FlexMotion Software Reference Manual 6 90 www natinst com Chapter 6 Trajectory Control Functions flex_load_velocity_override flex_load_velocity_override Load V
265. is enabled the motion control driver must access the watchdog timer every 10 seconds If an event such as ESD disrupts this communication the watchdog automatically resets the controller If you do not enable the watchdog timer you have to power cycle the FW 7344 to restore communication National Instruments Corporation 13 7 FlexMotion Software Reference Manual Chapter 13 Advanced Functions flex_enable_auto_start flex_enable_auto_start Enable Auto Start Format status flex_enable_auto_start boardID enableOrDisable programToExecute Purpose Allows you to automatically run a program when the controller powers up Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer enableOrDisable u8 enable or disable auto start programToExecute u8 program number to execute Parameter Discussion enableOrDisable enables or disables the auto start feature Set this to NIMC_TRUE 1 to enable auto start and NIMC_FALSE 0 to disable auto start programToExecute is the onboard program the controller will execute if the auto start feature is enabled This should be a valid program number 1 255 that is stored to FLASH using the Object Memory Management function Using This Function The Enable Auto Start function configures the controller to automatically start an onboard program on power up Once auto start is enabled the controller automatically executes the
266. is sufficient to satisfy the condition while NIMC_MATCH_ALL requires a complete pattern match logical AND of all bits labelNumber is the arbitrary label number to jump to Valid label numbers are from 1 to 65 535 Using This Function The Jump to Label on Condition function controls the flow of execution in a stored program by defining a conditional jump to any label within the program In addition to condition codes set as the result of a previous data operations function you can test virtually any instantaneous status of axes or resources to decide whether to jump or not There are two distinct groups of conditions The first group conditions 0 through 6 test the result of the most recent logical mathematical or data transfer operations function For these FlexMotion Software Reference Manual 12 8 www natinst com Chapter 12 Onboard Programming Functions flex_jump_label_on_condition conditions the resource mustOn mustOff and matchType parameters are not required and their values are ignored 3 Note You can program unconditional jumps by setting the condition to NIMC_CONDITION_TRUE 6 The second group conditions 7 and above test a specific multi axis multi vector space multi encoder program motion I O or general purpose I O status Where applicable you can select the desired resource with the resource parameter NIMC_CONDITION_PROGRAM_COMPLETE is similar to the first condition group in that mustOn mustOff and m
267. is the double precision floating point acceleration and or deceleration value in motor revolutions s s RPS s The range for acceleration in RPS s depends upon the motor counts or steps per revolution and the trajectory update rate Refer to the Trajectory Parameters section in Chapter 4 Software Overview for more information on velocity and acceleration units and their dependency on trajectory update rate inputVector indicates the source of the data for this function Available inputVectors include immediate OxFF or variable 0x01 through 0x78 FlexMotion Software Reference Manual 6 12 www natinst com Chapter 6 Trajectory Control Functions flex_load_rpsps Using This Function The Load Accel Decel in RPS sec function specifies the maximum rate of acceleration and or deceleration for individual axes or vector spaces in revolutions s s When executed on a vector space the value controls the vector acceleration deceleration along the vector move path This function requires previously loaded values of either counts per revolution for servo axes or steps per revolution for stepper axes to operate correctly You can use this function to load separate limits for acceleration and deceleration or to set them both to the same value with one call These parameters are double buffered so you can load them on the fly without affecting the move in process and they will take effect on the next Start Motion or Blend Motion function Once
268. is used by the Read Object Registry function to get the information about the object registry on the FlexMotion controller For more information on the object registry refer to Chapter 12 Onboard Programming Functions typedef struct ul6 device The object number ul6 type The type of object u32 pstart The address where the object is stored u32 size Size of the object REGISTRY National Instruments Corporation 3 5 FlexMotion Software Reference Manual Chapter 3 Programming Language Considerations The PID parameters data structure PID is used by the Load All PID Parameters function to load the PID and PIVFF parameter for an axis For more information on PID and PIVFF parameters refer to Chapter 5 Axis amp Resource Configuration Functions typedef struct ul6 kp Proportional Gain ul6 ki Integral Gain ul6 ilim Integration Limit ul6 kd Derivative Gain ul6 td Derivative Sample Period ul6 kv Velocity Gain ul6 aff Acceleration Feedforward ul6 vff Velocity Feedforward PID Example While using the data structures pass the address of the structure in the function 132 status u8 boardID 1 u8 axis 1 u8 inputVector 0xFF PID PIDValues PIDValues kp 100 PIDValues ki 0 PIDValues ilim 1000 PIDValues kd 1000 PIDValues td 2 PIDValues kv 0 PIDValues aff 0 PIDValues vff 0 status flex_load_pid_parameters boardID axis amp PIDValues inputVect
269. isabled unless your application absolutely requires operating with greater than 32 787 counts of error You can monitor following error status with the Read Trajectory Status or Read per Axis Status functions A following error trip always sets the Motor Off status You can further diagnose the cause of the trip by checking the torque limit status with the Read DAC Limit Status function In general a following error trip is considered normal operation and does not generate an error There are a few cases where an unexpected following error trip will generate a modal error during Find Home or Find Index and while executing a stored program For information about errors and error handling refer to the Errors and Error Handling section in Chapter 4 Software Overview National Instruments Corporation 6 9 FlexMotion Software Reference Manual Chapter 6 Trajectory Control Functions flex_load_rpm flex_load_rpm Load Velocity in RPM Format status flex_load_rpm boardID axisOrVectorSpace RPM inputVector Purpose Loads velocity for an axis or vector space in RPM Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer axisOrVectorSpace u8 axis or vector space to be controlled RPM f64 velocity in RPM inputVector u8 source of the data for this function Parameter Discussion axisOrVectorSpace is the axis or vector space to be controlled RPM is the double pr
270. ition are optional conditions that are logically AND d to further qualify the Move Complete status If the Run Stop bit is set the axis must also be logically stopped for the move to be considered complete For information about the Run Stop status refer to the Configure Velocity Filter function If the Delay bit is set the axis must wait a user defined delay after the other criteria are met before the move is considered complete The user defined delay parameter is typically used to wait the mechanical settling time so that a move is not considered complete until vibrations in the mechanical system have damped out It can also be used to compensate for PID pull in time due to the integral term This pull in is typically at velocities below the Run Stop threshold Finally if the In Position bit is set the axis checks its final stopping position versus its target position and only sets the Move Complete status if the absolute value of the difference is less than the in position deadband The final parameter minPulse sets the minimum time that the Move Complete status must stay True A non zero value for minPulse guarantees that the status stays in the True state for at least this minimum time even if another move starts immediately You can use this feature to make sure that the host does not miss a Move Complete status when it polls the Move Complete Status register 3 Note You can use the Delay parameter to guarantee a minimum time for the
271. ity You can update velocity at any time to accomplish velocity profiling Changes in velocity while motion is in progress uses the preprogrammed acceleration deceleration and s curve values to control the change in velocity You can reverse direction by changing the sign of the loaded velocity and executing a Start Motion function 3 Note Executing a Blend Motion function in velocity mode has no effect because the move in process never normally stops You should always use the Start Motion function to update velocity in velocity mode Velocity mode is not valid on vector spaces and will generate an error NIMC_RELATIVE_TO_CAPTURE The relative to capture position mode is very similar to relative position mode except that the position reference is the last captured position for the axis or axes A relative to capture position move uses the preprogrammed values of acceleration deceleration s curve and velocity to complete a trajectory profile with an ending position equal to the sum of the loaded target position and the last captured position In relative to capture mode the new target position is calculated and double buffered when you execute either the Load Target Position or Load Vector Space Position function These functions use existing values in the position capture register s You must load the target position after the capture event has occurred and before executing the Start Motion or Blend Motion function This mode is typica
272. jectory 3 Note With increasing s curve the overall time to reach the target position increases given the same velocity acceleration and deceleration parameters You can load s curve time to individual axes or to a vector space for smoothing all axes in the vector space When sent to a vector space the s curve time is broadcast to all axes in the vector space to change the per axis s curve times If you later want to operate an axis independently with a different s curve time you must execute the Load S Curve Time function again for that axis Sy Note All axes in a vector space should have the same s curve time for best vector accuracy National Instruments Corporation 6 83 FlexMotion Software Reference Manual Chapter 6 Trajectory Control Functions flex_load_torque_lim flex_load_torque_lim Load Torque Limit Format status flex_load_torque_lim boardID axis primaryPositiveLimit primaryNegativeLimit secondaryPositiveLimit secondaryNegativeLimit inputVector Purpose Loads primary and secondary DAC torque limits for an axis Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer axis u8 axis to be controlled primaryPositiveLimit i16 positive limit for primary DAC primaryNegativeLimit il6 negative limit for primary DAC secondaryPositiveLimit i16 positive limit for optional secondary DAC secondaryNegativeLimit il6 negativ
273. l 10 20 to 10 22 flex_set_adc_range 10 23 to 10 24 flex_set_port_direction 10 25 to 10 26 flex_set_port_momo 10 27 to 10 29 flex_set_port_pol 10 30 to 10 31 summary table B 5 API functional organization 4 1 to 4 2 application development See FlexMotion Windows libraries programming language considerations arc angles in degrees 4 19 to 4 20 FlexMotion Software Reference Manual Index arcs functions 6 55 to 6 62 flex_load_circular_arc 6 56 to 6 57 flex_load_helical_arc 6 58 to 6 59 flex_load_spherical_arc 6 60 to 6 62 summary table B 3 array data type 3 2 automatic startup function flex_enable_auto_start 13 8 axes 4 2 to 4 4 configuring 4 2 definition 4 2 resource IDs table 4 4 stepper axis resources figure 4 3 axis amp resource configuration functions 5 1 to 5 31 default parameters table C 1 to C 2 flex_config_axis 5 2 to 5 5 flex_config_mc_criteria 5 6 to 5 8 flex_config_step_mode_pol 5 9 to 5 10 flex_config_vect_spc 5 11 to 5 12 flex_enable_axes 5 13 to 5 16 flex_load_counts_steps_rev 5 17 to 5 18 flex_load_pid_parameters 5 19 to 5 20 flex_load_single_pid_parameter 5 21 to 5 27 flex_load_vel_tc_rs 5 28 to 5 29 flex_set_stepper_loop_mode 5 30 to 5 31 summary table B 1 bitmapped versus per resource functions 4 10 blend functions See also move functions flex_blend 7 2 to 7 4 flex_check_blend_complete_status 6 2 to 6 3 flex_load_blend_fac
274. l work Warning For closed loop stepper controllers steps counts must be in the range of 1 32 767 lt steps counts lt 32 767 Other than these special issues with Find Index and closed loop stepper functionality the Load Counts Steps per Revolution function loads a scale factor that affects subsequently loaded and readback values of velocity and acceleration FlexMotion Software Reference Manual 5 18 www natinst com Chapter 5 Axis amp Resource Configuration Functions flex_load_pid_parameters flex_load_pid_parameters Load All PID Parameters Format status flex_load_pid_parameters boardID axis PIDValues inputVector Purpose Loads all 8 PID control loop parameters for an axis Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer axis u8 axis to configure PIDValues PID FAR data structure containing all 8 PID parameters inputVector u8 source of the data for this function Parameter Discussion axis is the axis to configure PIDValues data structure contains all eight PID parameters in the following structure struct ul6 kp ul6 ki ul6 il ul6 kd ul6 td ul6 kv ul6 ul6 PID Proportional Gain Integral Gain Integration Limit Derivative Gain Derivative Sample Period Velocity Feedback Gain aff Acceleration Feedforward Gain vff Velocity Feedforward Gain inputVector indicates the
275. lculation is completed every PID cycle the axis accurately tracks the ratio of the master velocity For example setting a gear ratio of 3 2 results in the slave axis rotating three revolutions for every two revolutions of the master Each slave axis can have its own gear ratio independent and relative to the master axis You can also superimpose any move type on top of the geared slave because its trajectory generators are not used for gearing Again the target position command values are combined digitally using superposition This very powerful feature allows registration moves in an electronically geared master slave system For more information refer to the Gearing Functions section in Chapter 6 Trajectory Control Functions Linear and Circular Interpolation You can group multiple axes into vector spaces and perform 2D and 3D linear interpolation 2D circular interpolation and 3D helical and spherical interpolation The FlexMotion Infinite Trajectory Control Processing allows you to blend any interpolated move segment into another without stopping the axes involved You can interrupt interpolated moves by executing a Stop Motion function Motion is automatically halt stopped on an axis if an enabled limit or home input becomes active The other axes in the vector space decelerate to a stop Similarly if any closed loop axis exceeds its following error trip point the axis is killed and the other axes in the vector space decelerat
276. le the state of breakpoint output 3 Note For modulo breakpoints the magnitude of the breakpoint value must be less than the breakpoint modulus If this range is exceeded a modal error is generated when you execute the Enable Breakpoint function When a breakpoint is enabled the enableMode parameter determines how the previously loaded breakpoint position is interpreted Absolute breakpoints can be anywhere in the 32 bit position range Relative breakpoints are relative to the instantaneous encoder position when the breakpoint is enabled Modulo breakpoints are interpreted within the range of the loaded breakpoint modulus Refer to the Load Breakpoint Modulus function for more information on modulo breakpoints When an enabled breakpoint is reached a breakpoint event occurs You can use the Read Breakpoint Status function to see if a breakpoint has occurred yet or not A breakpoint event can also cause the state of the corresponding breakpoint output to change The actionOnBreakpoint parameter selects whether the output goes low goes high toggles state or does not change when the breakpoint event occurs If the breakpoint output is presently in the state defined by actionOnBreakpoint it is forced to the opposite state when the breakpoint is enabled This guarantees that the desired transition occurs when the breakpoint is reached You can enable only one breakpoint per encoder or axis at a time Enabled breakpoints act as one shots When a
277. led Example D15 To enable ADC channels 1 3 5 and 7 on the FlexMotion controller call the Enable ADCs function with ADCMap 0x0055 which corresponds to the following bitmap D14 D13 D12 Dil D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO ADC8 ADC7 ADC6 ADC5 ADC4 ADC3 ADC2 ADC1 D15 Under normal conditions because ADC channels 2 4 6 and 8 are set to zero 0 they are disabled when you execute this function However if ADC channel 2 is already being used as feedback for axis 2 the disable 0 for ADC 2 is ignored resulting in the following bitmap of enabled ADCs D14 D13 D12 Dil D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO 0 ADC8 ADC7 ADC6 ADC5 ADC4 ADC3 ADC2 ADC1 In this example there are five ADCs enabled so the sample time for each ADC channel is as follows ADC sample time 50 us channel x 5 250 us This puts a limit on the fastest PID update rate practically achievable You can set a faster PID update rate with the Enable Axes function but the PID loop will not truly operate at that faster rate because the ADC channels used as feedback are not being sampled fast enough FlexMotion Software Reference Manual 10 8 www natinst com Chapter 10 Analog amp Digital I O Functions flex_enable_encoders flex_enable_ encoders Enable Encoders Format status flex_enable_encoders boardID
278. led 0 Gearing disabled Using This Function This function is similar to the Enable Gearing function but allows you to enable or disable gearing on a single axis without affecting the other axes The Enable Gearing Single Axis function enables and disables master slave gearing functionality of a slave axis When gearing is enabled the position of the slave axis and its corresponding master is recorded as its absolute gearing reference From then on as long as the gear ratio remains absolute every incremental change of a master position is multiplied by the corresponding absolute gear ratio and applied to the slave axis See the Load Gear Ratio function for more information about absolute versus relative gear ratios You must call the Configure Gear Master and Load Gear Ratio functions prior to enabling master slave gearing In addition you must enable and activate the slave axis before enabling gearing An error is generated if the slave is killed when gearing is enabled These checks ensure that the slave axis enables in a controlled fashion FlexMotion Software Reference Manual 6 68 www natinst com Chapter 6 Trajectory Control Functions flex_enable_gearing_single_axis You can call the Enable Gearing Single Axis function at any time to disable gearing or to re enable gearing with new absolute gearing reference positions If gearing is disabled on a moving axis the axis immediately stops but remains active If the slave axis wa
279. lex_reset_pos Using This Function The Reset Position function resets the axis position the associated primary feedback position and the optional secondary feedback position You can reset position to zero or any value in the 32 bit position range You can reset the secondary feedback to the same value as the axis and primary feedback or you can reset it to a different value If a secondary feedback resource is not in use the corresponding reset value is ignored Note Non zero reset values are useful for defining a position reference offset Position can be reset at any time However it is recommended that you reset position only while the axis is stopped An axis reset while the axis is moving will not have a repeatable reference position Typically the Reset Position function is executed once after the Find Home and Find Index sequences have completed successfully and not called again until the next power up An ADC channel used as a primary or secondary feedback resources is reset by storing an offset value when this function is executed In this way its zero reference is not lost and you can still read the actual ADC value with the Read ADC function FlexMotion Software Reference Manual 6 44 www natinst com Chapter 6 Trajectory Control Functions flex_set_op_mode flex_set_op_mode Set Operation Mode Format status flex_set_op_mode boardID axisOrVectorSpace operationMode Purpose Sets the operation mode
280. lly used in registration applications Refer to the High Speed Capture Functions section in Chapter 8 Motion I O Functions for more information on the high speed capture functionality of the encoder inputs National Instruments Corporation 6 47 FlexMotion Software Reference Manual Chapter 6 Trajectory Control Functions flex_set_op_mode NIMC_MODULUS_POSITION In modulus position mode the loaded target position is interpreted within the boundaries of a modulus range and the direction of motion is automatically chosen to generate the shortest trajectory to the target To load the modulus range execute the Load Position Modulus function Modulus position mode is typically used with rotary axes or for other similarly repetitive motion applications Example 3 A rotary tool changer has a modulus of 360 such that 0 360 720 and so on are the same rotary position In modulus position mode the present position and the desired target position are used to calculate the shortest trajectory to the target position If the present position is 30 and the target position is 290 there are two possible moves 290 30 260 in the clockwise direction or 290 360 30 100 in the counterclockwise direction Because 100 is the shortest trajectory the tool changer moves counterclockwise to the target position of 290 Note Multiple revolution moves cannot be accomplished by indicating target positions greater than
281. lush Return Data Buffer Format status flex_flush_rdb boardID Purpose Clears the Return Data Buffer by deleting all of the buffered data Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer Using This Function The Flush Return Data Buffer function clears the Return Data Buffer by repetitively reading the RDB until the buffer is empty All return data packets in the RDB are deleted and nothing is returned by this function You typically use the Flush Return Data Buffer function after an error condition when the data in the Return Data Buffer is no longer valid or relevant This function is also useful for flushing the RDB after a programming error has caused the buffer to become skewed Buffer skew is when the data returned by a read function using the _rtn calling convention such as flex_read_pos_rtn does not return the expected data but rather returns data requested by a previous function Refer to your motion controller user manual for more information on low level communications protocols and return data packets National Instruments Corporation 13 11 FlexMotion Software Reference Manual Chapter 13 Advanced Functions flex_read_csr_rtn flex_read_csr_rtn Read Communication Status Format status flex_read_csr_rtn board ID csr Purpose Reads the Communication Status Register CSR Parameters In
282. ly the same value as the Read Position function For closed loop stepper axes this function returns the actual number of steps generated while the Read Position function returns the feedback position converted from counts to steps The number of steps generated will include extra steps added during any pull in move required to reach the target position In applications where the feedback resolution is less than the steps resolution the steps generated can also be more a more accurate measurement of position FlexMotion Software Reference Manual 6 98 www natinst com Chapter 6 Trajectory Control Functions flex_read_target_pos and flex_read_target_pos_rin flex_read_target_pos and flex_read_target_pos_rtn Read Target Position Format status flex_read_target_pos boardID axis returnVector status flex_read_target_pos_rtn boardID axis targetPosition Purpose Reads the destination position of the current motion trajectory Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer axis u8 axis to be read returnVector u8 destination for the return data Output Name Type Description targetPosition 132 destination position of the current motion trajectory in counts or steps Parameter Discussion axis is the axis to be read returnVector indicates the desired destination for the return data generated by this function Available return Vec
283. ment amp Automation Explorer axisOrVectorSpace u8 axis or vector space selector stopType ul6 type of stop to execute axisOrVSMap ul6 bitmap of axes or vector spaces to stop Parameter Discussion axisOrVectorSpace can select an axis 1 through 6 vector space 0x11 through 0x13 multiple axes 0 or multiple vector spaces 0x10 When simultaneously stopping multiple axes or vector spaces the axisOr VSMap parameter indicates which axes or vector spaces are involved stopType is the type of stop to execute FlexMotion Software Reference Manual stopType Constant stopType Value Action NIMC_DECEL_STOP 0 decelerate smoothly to a stop NIMC_HALT_STOP 1 immediate full torque stop NIMC_KILL_STOP 2 zero the command and activate the inhibit output 7 8 www natinst com Chapter 7 Start amp Stop Motion Functions flex_stop_motion axisOr VSMap is the bitmap of axes or vector spaces to be stopped It is only required when multiple axes or vector spaces are selected with the axisOrVectorSpace parameter When stopping axes axisOrVectorSpace 0 D15 D14 D13 Di2 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 DI DO 0 0 0 0 0 0 0 0 0 Axis Axis Axis Axis Axis Axis 0 6 5 4 3 2 1 For D1 through D6 1 Stop axis 0 Do not stop axis When stopping vector spaces axisOrVectorSpace 0x10 D15 D14 D13 D12 Dil D10 D9 D8 D7 D6 DS D4 D3 D2 D1 DO F
284. meter National Instruments Corporation 4 9 FlexMotion Software Reference Manual Chapter 4 Software Overview Vector spaces are configured by mapping axes to the vector space with the Configure Vector Space function Vector spaces are logical not physical and do not require motion resources other than those used by the axes themselves Function Types and Parameters In addition to the API functional organization described previously FlexMotion functions can be categorized by common format execution and parameter characteristics Bitmapped versus Per Resource Functions There are two basic types of FlexMotion functions those that operate on one resource axis vector space and so on at a time and those that operate on multiple axes vector spaces I O bits and so on simultaneously Per resource functions typically send numeric values to or read numeric values from the selected axis or resource They operate identically on each axis or member in the resource family In contrast functions that operate on multiple items send and return bitmaps where each item axis vector space I O bit and so on is represented by one bit in the bitmap Bitmapped values are always shown in hex Ox prefix with two characters for a byte value and four characters for a 16 bit word value Some functions set and reset bits using the MustOn MustOff MOMO protocol This tri state protocol allows you to set reset one or more bits with
285. n 6 87 FlexMotion Software Reference Manual Chapter 6 Trajectory Control Functions flex_load_torque_offset Using This Function The Load Torque Offset function loads offset values for the DACs mapped to the selected servo axis This function has no effect on stepper axes or independent DAC outputs that are not mapped to an axis When a DAC is connected to a velocity block servo amplifier the torque offset functions as a velocity offset A torque or velocity offset shifts the DAC output s by the programmed offset value without requiring any action from the PID loop In a servo system this can be used to overcome amplifier input offsets system imbalances or the effects of outside forces such as gravity Different torque offsets can be loaded for the primary and secondary DAC 3 Note When an axis is killed its DAC outputs are zeroed regardless of the torque offset loaded DAC offsets can be used in conjunction with DAC range limits to interface to servo amplifiers with unipolar input ranges for example 0 to 5 V or 0 to 10 V Example Calling the Load Torque Offset function with primaryOffset 4 096 and secondaryOffset 0 shifts the output ranges of the primary DAC mapped to the axis as shown in Figure 6 9 Offset 10V 8 75V 0 1 25 V 10 V 32768 28672 0 4096 32767 Figure 6 9 Torque Offset Example The result of this function call is to limit the primary DAC to a range of 8 75 V to 10 V wi
286. n flex_read_blend_status Read Blend Status 3 Yes 291 flex_read_blend_status_rtn flex_read_follow_err Read Following Error 3 Yes 48 flex_read_follow_err_rtn flex_read_mcs_rtn Read Move Complete N A Status flex_read_pos Read Position 3 Yes 41 flex_read_pos_rtn flex_read_rpm Read Velocity in RPM 3 Yes 374 flex_read_rpm_rtn flex_read_trajectory_status Read Trajectory Status 4 Yes 386 flex_read_trajectory_status_rtn flex_read_velocity Read Velocity 3 Yes 392 flex_read_velocity_rtn flex_read_vs_pos Read Vector Space Position 3 Yes 377 flex_read_vs_pos_rtn flex_reset_pos Reset Position 7 Yes 42 flex_set_op_mode Set Operation Mode 4 No 35 flex_wait_for_blend_complete Wait for Blend Complete N A flex_wait_for_move_complete Wait for Move Complete N A FlexMotion Software Reference Manual B 2 www natinst com Appendix B Table B 1 FlexMotion Function Summary Continued FlexMotion Functions Function Name Description Word Count Uses Vectors Command ID Arc Functions flex_load_circular_arc Load Circular Arc 13 Yes 290 flex_load_helical_arc Load Helical Arc 11 Yes 375 flex_load_spherical_arc Load Spherical Arc 13 Yes 290 Gearing Functions flex_config_gear_master Configure Gear Master 4 No 30 flex_enable_gearing Enable Gearing 4 No 4 flex_enable_gearing_single_axis Enable Gearing Single Axis 4 No 396 flex_load_gear_ratio L
287. n 12 31 FlexMotion Software Reference Manual Chapter 12 Onboard Programming Functions flex_add_vars flex_add_ vars Add Variables Format status flex_add_vars boardID variablel variable2 return Vector Purpose Adds the values in the two variables and returns the result Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer variable1 u8 first operand variable2 u8 second operand returnVector u8 destination for the result Parameter Discussion variablel is the variable holding of the first operand Valid variables are 0x01 through 0x78 variable2 is the variable holding the second operand Valid variables are 0x01 through 0x78 returnVector indicates the desired destination for the result of this function Available return Vectors include return data to the host OxFF return data to a variable 0x01 through 0x78 and don t return data 0 Using This Function The Add Variables function adds the values in the two variables and returns the result to the destination specified by the returnVector returnVector value variablel value variable2 value The result can be returned to a new variable or one of the two input variables returned to the host computer or thrown away In all cases the condition codes are set according to the resulting value GREATER THAN LESS THAN or EQUAL to zero FlexMotion Software Reference Manual
288. n 5 3 FlexMotion Software Reference Manual Chapter 5 Axis amp Resource Configuration Functions flex_contig_axis B Note You cannot configure an axis when any axes are enabled You must first disable all axes using the Enable Axes function Example 1 To change axis 5 to use the fourth encoder channel and the sixth DAC output call the Configure Axis Resources function with the following parameters Primary Secondary Secondary Axis Feedback Feedback Primary Output Output 5 0x24 Enc 4 0 0x36 DAC 6 0 To avoid potential contention for output resources this VI will always honor the configuration of the last time it is called In this example both axis 6 by default and axis 5 want to use DAC 6 Similarly both axis 4 by default and axis 5 want to use encoder 4 To avoid contention DAC 6 is assigned to axis 5 and removed from axis 6 and encoder 4 is assigned to axis 5 and removed from axis 4 resulting in the following parameters Primary Secondary Secondary Axis Feedback Feedback Primary Output Output 4 0 0 0x34 DAC 4 0 6 0x26 Enc 6 0 0 0 You must now call this VI again to configure axis 4 with a different feedback resource and axis 6 with a different output resource Example 2 To configure axis 2 for dual loop feedback you can use the following parameters Primary Secondary Secondary Axis Feedback Feedback Primary Output Output 2 0x51
289. n enabled breakpoint is reached the breakpoint is automatically disabled You must explicitly re enable the breakpoint to use it again If you need to disable a previously enabled breakpoint call this function with enableMode NIMC_BREAKPOINT_OFF 0 National Instruments Corporation 8 23 FlexMotion Software Reference Manual Chapter 8 Motion I O Functions flex_enable_bp B Note Enabled breakpoints are also automatically disabled whenever you execute a Reset Position or Reset Encoder Position function on the corresponding axis Breakpoints are fully functional on independent encoders that are not mapped to axes In this case you enable breakpoints directly on the encoder resource itself FlexMotion Software Reference Manual 8 24 www natinst com Chapter 8 Motion 1 0 Functions flex_load_bp_modulus flex_load_bp_modulus Load Breakpoint Modulus Format status flex_load_bp_modulus boardID axisOrEncoder breakpointModulus inputVector Purpose Load the breakpoint modulus for a position breakpoint Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer axisOrEncoder u8 axis or encoder to be controlled breakpointModulus u32 breakpoint modulus in counts inputVector u8 source of the data for this function Parameter Discussion axisOrEncoder is the axis or encoder to be controlled You can load breakpointModulus on encoders mapped to axes throug
290. n error is generated You can wait on virtually any instantaneous status of axes vector spaces encoders programs motion I O or general purpose I O Where applicable you can select the desired resource with the resource parameter When waiting on a program with the NIMC_CONDITION_PROGRAM_COMPLETE condition mustOn mustOff and matchType parameters are not required and their values are ignored You set resource equal to the desired program number to wait on The balance of the conditions test status bitmaps and function similar to each other as described in the remainder of this section The mustOn mustOff and matchType parameters work together to define a bitmap of True and False bits that must be matched to satisfy the condition The matchType parameter allow you to select between an OR match where any matching bit is sufficient and an AND match where all status bits must match the True False bitmap defined by MustOn and MustOff Using the MustOn MustOff protocol gives you tri state control over each match bit True False or Don t care A one 1 in a bit location of the MustOn bitmap sets the match bit to True while a one 1 in the corresponding location of the MustOff bitmap resets the match bit to False A zero 0 in either bitmap has no affect so leaving both the MustOn and MustOff bits at zero defines the bit as Don t care If you set both the MustOn and MustOff bits to one 1 it is interpreted as a MustOn condition and th
291. n in a motion control system derived from a mechanical datum or switch Often designated as the zero position The motion controller halts the motor if it finds this switch active while doing a find home sequence computer into which the motion controller is plugged A motor type designed to move in discrete step increments typically specified in degrees Hybrid stepper motors have permanent magnet rotor elements with a coil wound stator outer shell and no brushes contacting between the two The current through the coil phases is switched in a predetermined sequence commutated to produce desired motion in a given direction hertz the number of scans read or updates written per second FlexMotion Software Reference Manual Glossary T O ID import library in index inverting IRQ ISA jerk FlexMotion Software Reference Manual G 6 input output the transfer of data to from a computer system involving communications channels operator interface devices and or data acquisition and control interfaces identifier A Windows specific file that contains information about the functions contained in a companion dynamic link library DLL Windows applications are typically linked to one or more import libraries inches marker between consecutive encoder revolutions Defines the polarity of a switch limit switch home switch and so on when it is in its active state If these inputs are active low they are said
292. n onboard variable you must use the integer representation of 0 to 384 Arc Angles in Degrees The Load Circular Arc Load Helical Arc and Load Spherical Arc functions take their angle parameters in degrees as double precision floating point values These values are converted to an internal 16 16 fixed point representation where the integer part corresponds to multiples of 45 for example 360 is represented as 0x0008 0000 National Instruments Corporation 4 19 FlexMotion Software Reference Manual Chapter 4 Software Overview The conversion from floating point to fixed point is performed as follows Angle in degrees 45 Q R where Q quotient the integer multiple of 45 and R remainder Angle in 16 16 format Q R 45 x 65 536 For example 94 7 is represented in 16 16 format as follows Angle in 16 16 format 2 4 7 45 x 65 536 0x0002 1ABD The minimum angular increment is therefore 1 65 536 x 45 0 000687 ay Note The conversion from floating point to fixed point is performed on the host computer not on the FlexMotion controller To load arc functions from onboard variables you must use the 16 16 fixed point representation for all angles Communication between the Host Computer and the FlexMotion Controller The host computer communicates with a FlexMotion controller through a number of I O port addresses on the ISA or PCI bus At the controller s base address is the primary bidire
293. n_board_name function 11 9 to 11 10 flex_insert_program_label function 12 5 flex_jump_label_on_condition function 12 6 to 12 10 flex_load_acceleration function 6 6 to 6 7 flex_load_base_vel function 6 75 flex_load_blend_fact function 6 76 to 6 78 flex_load_bp_modulus function 8 25 to 8 26 flex_load_circular_arc function 6 56 to 6 57 flex_load_counts_steps_rev function 5 17 to 5 18 flex_load_dac function 10 11 flex_load_delay function 12 11 flex_load_follow_err function 6 8 to 6 9 flex_load_gear_ratio function 6 70 to 6 71 flex_load_helical_arc function 6 58 to 6 59 flex_load_pid_parameters function 5 19 to 5 20 flex_load_pos_bp function 8 27 to 8 28 flex_load_pos_modulus function 6 79 flex_load_pwm_duty function 10 12 flex_load_rpm function 6 10 to 6 11 flex_load_rpm_thresh function 6 80 to 6 81 flex_load_rpsps function 6 12 to 6 13 flex_load_scurve_time function 6 82 to 6 83 flex_load_single_pid_parameter function 5 21 to 5 27 acceleration feedforward gain 5 26 derivative gain 5 24 derivative sample period 5 24 to 5 25 example 5 27 integral gain 5 23 FlexMotion Software Reference Manual Index integration limit 5 23 parameters and parameter discussion 5 21 to 5 22 proportional gain 5 22 velocity feedback gain 5 25 to 5 26 velocity feedforward gain 5 26 to 5 27 flex_load_spherical_arc function 6 60 to 6 62 flex_load_sw_lim_pos function 8 9 to 8 10 flex_load_target_pos function 6 1
294. nctions flex berin stofferne a E E EGR flex_end_store eseseseseessssesseessscerrestssesssesesceoresossseseecoreeee flex_insert_program_label esseeseeseeseeeserssereressresrrereeees flex_jump_label_on_condition eee eeseeeneeeeeeeneceeneeees flexe lodd delay A Mise eit ioe takes FlexMotion Software Reference Manual www natinst com Contents flex PAUSE Prot aero a irae a e ces aera eE a os cosehscotachachs co cused AO REAd 12 12 flex read program stats cincin n s e a a 12 13 TEX FUN PrO gne aa e R a a e 12 15 flex set stats MOMO a E a E a a EN 12 16 flex st p PrO Eaei a suck sensed E E EA R E Ua ER E E EEES 12 18 fex vat O COON a hae et ee ec ORS 12 19 Object Management Functions 00 eee cee eecceeeeeeeeseeseecaeesaeceeceaeeaeceaeeeseeseeeseeeeeesenes 12 24 flex load description menneen i E E REE E 12 25 HEX bjectmem maage wren oaei ia aE EE E E 12 26 flex read d scription T se iiaii ni eiii n Ei e iE EEn E RE EEn TEST 12 28 flex read resistry ttn ii eonen etsan nek ie eE N E EE ia 12 29 Data Operations FUNCHODS tsesen reet iip oer er a e E Enas rE eter TE r erken E E ees 12 31 iC ET e o e Ve E E EE EEEN EE EE E 12 32 FLEX EO ENIE EREE E EEEE EE EARE A E EAEE 12 33 fex div Va S re ok ile bee E E ee e 12 34 ED nd F216 EE T EESE E E ee 12 35 1 Ca I E eo EE E E 12 36 flex m lt 0 le a aE O EE a E AEEA 12 38 flex dot Vat E s iss Soe a eo os ve ea ete 12 39 FIEX ON VATS cerca Seek
295. ndependent DAC outputs that are not mapped to an axis By limiting the output range of a DAC it is possible to control the maximum torque when connected to a torque block servo amplifier or velocity when connected to a velocity block servo amplifier This function is also helpful when interfacing to amplifiers that do not support the standard 10 V command range Primary and secondary DACs can have different limits and the positive and negative limits can be both positive or both negative to limit the DAC output to a unipolar range The only restriction is that a positive DAC limit cannot be less than the negative DAC limit You can also set a torque offset on the primary and secondary DAC outputs See the Load Torque Offset function for more information Example Calling the Load Torque Limit function with the following parameters limits the output ranges of the primary and secondary DACs mapped to the axis as shown in Figure 6 8 primaryPositiveLimit 16 383 primaryNegativeLimit 16 384 secondaryPositiveLimit 8 191 secondaryNegativeLimit 32 768 National Instruments Corporation 6 85 FlexMotion Software Reference Manual Chapter 6 FlexMotion Software Reference Manual 6 86 Trajectory Control Functions flex_load_torque_lim 10V 5 V 0 5 V 10 V 32768 16384 0 16383 32767 10V 0 2 5 V 10 V 32768 0 8191 32767 Figure 6 8 Primary and Secondary T
296. ndicates the desired destination for the return data generated by this function Available return Vectors include return data to the host OxFF return data to a variable 0x01 through 0x78 and don t return data 0 3 Note The suffix _rtn on the function indicates that the data should be returned to the host When this calling convention is used no returnVector is required encoderCounts is the encoder position is quadrature counts National Instruments Corporation 10 15 FlexMotion Software Reference Manual Chapter 10 Analog amp Digital I O Functions flex_read_encoder and flex_read_encoder_rtn Using This Function The Read Encoder Position function returns the quadrature count value of the encoder selected The encoder must be enabled either directly through the Enable Encoders function or automatically by being mapped to an enabled axis The Read Encoder Position function is typically used to read the value of an encoder that is not part of an axis This encoder could be a master encoder used for master slave gearing or an independent position or velocity sensor For reading encoders mapped to axes you can call this function on the axis or directly on its mapped encoder For servo axes both approaches return the same value as the Read Position function On stepper axes however this function can return additional useful information During axis setup you can operate the closed loop stepper axis in open loop mode and
297. ndings In this way the step size is reduced and low speed smoothness is dramatically improved treat the position as within the range of total quadrature counts per revolution for an axis state or bit that is forced off False or must be off to satisfy a condition state or bit that is forced on True or must be on to satisfy a condition An undesirable electrical signal Noise comes from external sources such as the AC power line motors generators transformers fluorescent lights soldering irons CRT displays computers electrical storms welders radio transmitters and internal sources such as semiconductors resistors and capacitors Noise corrupts signals you are trying to send or receive FlexMotion Software Reference Manual Glossary noninverting OL P packets phase angle phase margin PID PID loop tuning servo compensation port position breakpoint position resolution power cycling FlexMotion Software Reference Manual G 8 Defines the polarity of a switch limit switch home switch and so on when it is in its active state If these inputs are active high low they are said to have noninverting polarity open loop trefers to a motion control system where no external sensors feedback devices are used to provide position or velocity correction signals command and data sent as a group over a computer bus A value presented in PID Loop Tuning Bode Plot analysis that represents the advance
298. nfiguration in initialization 4 13 motion I O functions 8 1 to 8 42 breakpoint functions 8 21 to 8 32 flex_enable_bp 8 22 to 8 24 flex_load_bp_modulus 8 25 to 8 26 flex_load_pos_bp 8 27 to 8 28 flex_read_breakpoint_status 8 29 to 8 30 FlexMotion Software Reference Manual I 10 flex_read_breakpoint_status_rtn 8 29 to 8 30 flex_set_bp_momo 8 31 to 8 32 summary table B 4 default parameters table C 3 to C 4 flex_configure_inhibits 8 2 to 8 3 flex_enable_home_inputs 8 4 to 8 5 flex_enable_limits 8 6 to 8 8 flex_load_sw_lim_pos 8 9 to 8 10 flex_read_home_input_status 8 11 to 8 12 flex_read_home_input_status_rtn 8 11 to 8 12 flex_read_limit_status 8 13 to 8 14 flex_read_limit_status_rtn 8 13 to 8 14 flex_set_home_polarity 8 15 to 8 16 flex_set_inhibit_momo 8 17 to 8 18 flex_set_limit_polarity 8 19 to 8 20 high speed capture functions 8 33 to 8 42 flex_enable_hs_caps 8 34 to 8 35 flex_read_cap_pos 8 36 to 8 37 flex_read_cap_pos_rtn 8 36 to 8 37 flex_read_hs_cap_status 8 38 to 8 40 flex_read_hs_cap_status_rtn 8 38 to 8 40 flex_set_hs_cap_pol 8 41 to 8 42 summary table B 4 to B 5 summary table B 4 to B 5 motion resources 4 4 to 4 7 ADC channels 4 5 to 4 6 DAC outputs 4 6 to 4 7 encoders 4 4 to 4 5 stepper outputs 4 7 motion trajectories 4 14 to 4 20 See also trajectory control functions trajectory parameters 4 17 to 4 20 acceleration in RPS s 4 19 arc angles in degrees 4 19
299. ng calls to the FlexMotion functions All header files are installed in the FlexMotion Include directory Microsoft C C programmers should link to the FlexMS32 1ib import library installed in the FlexMotion lib Microsoft directory Borland C C programmers should link to the FlexBC32 1ib import library installed in the FlexMotion 1lib Borland directory The Borland import library is created in version 5 0 FlexMotion Software Reference Manual 2 2 www natinst com Chapter 2 Building Applications with the FlexMotion Software Library C C example programs using these import libraries and the Flexmotion32 d11 are installed in the FlexMotion Examples directory Creating a 32 Bit Visual Basic Application The FlexMotion function prototype file for Visual Basic programmers is the FlexMotn bas module In addition Motnerr bas the FlexMotion error file for errors returned by the FlexMotion functions and Motncnst bas the FlexMotion constants file for the constants used while making calls to the FlexMotion functions should also be included in Visual Basic projects when making FlexMotion applications All the Visual Basic modules are installed into the FlexMot ion Include directory Visual Basic example programs are installed in the FlexMotion Examples directory National Instruments Corporation 2 3 FlexMotion Software Reference Manual Programming Language Considerations This chapter contains detailed information on p
300. ning 0 Axis stopped For NIMC_MOTOR_OFF_STATUS 1 Axis off 0 Axis on For NIMC_VELOCITY_THRESHOLD_STATUS 1 Velocity above threshold 0 Velocity below threshold For NIMC_MOVE_COMPLETE_STATUS 1 Move complete 0 Move not complete returnVector indicates the desired destination for the return data generated by this function Available return Vectors include return data to the host OxFF return data to a variable 0x01 through 0x78 and don t return data 0 Note The suffix _rtn on the function indicates that the data should be returned to the host When this calling convention is used no returnVector is required FlexMotion Software Reference Manual 6 36 www natinst com Chapter 6 Trajectory Control Functions flex_read_trajectory_status and flex_read_trajectory_status_rtn Using This Function The Read Trajectory Status function returns a multi axis status bitmap of the status type selected You can select one of the following three trajectory status types NIMC_RUN_STOP_STATUS Run Stop status is derived from a change in position per update sample period The axis is considered to be running when the change in position per sample period exceeds the Run Stop threshold set with the Configure Velocity Filter function NIMC_MOTOR_OFF_STATUS A motor can be Off for two reasons Either a kill stop was executed or the following error trip point was exceeded A Motor Off condition also means that a properly confi
301. nly non trajectory parameters that are also double buffered They have no effect until you execute a subsequent Enable Breakpoint function Input and Return Vectors Many functions that load values and virtually all readback functions support vectoring Load functions for example Load Target Position take an input vector that specifies the source of the data either immediate within the function call itself or from an onboard general purpose variable Read functions for example Read Position take a return vector that specifies the destination for the returned data either the host computer or an onboard variable The ability to use variables in motion control functions is one of the powerful features of the FlexMotion onboard programming environment You can read data from a resource into a variable scale or perform some other calculation on the value and then load the new value as a trajectory or other motion parameter All data operations functions take data from variables and return the result through a return vector typically to another variable 3 Note Data returned to the host by a return vector of OxFF is actually left in the Return Data Buffer RDB You must then use the Communicate function to retrieve the value from the RDB Input and return vectors are very useful when writing onboard programs but have little or no use in programs running on the host computer For this reason the default value for input vector is immedi
302. nnels and DAC outputs that are not mapped to an axis for general purpose I O Typical uses for encoder inputs include velocity monitoring masters for master slave gearing and digital potentiometer applications You can use unused ADC inputs and DAC outputs can be used for any analog I O that is within their specifications Typical analog input applications include analog joysticks potentiometers force pressure level and strain sensors and so on Analog output applications vary from heater element control to laser intensity modulation As a quick reference a summary of the entire FlexMotion function API is in Appendix B FlexMotion Functions National Instruments Corporation 10 1 FlexMotion Software Reference Manual Chapter 10 Analog amp Digital I O Functions flex_configure_encoder_filter flex_configure_encoder_filter Configure Encoder Filter Format status flex_configure_encoder_filter boardID axisOrEncoder frequency Purpose Selects the maximum count frequency for an encoder channel by configuring its digital filter This function is only supported by 7344 motion controllers Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer axisOrEncoder u8 axis or encoder to configure frequency ul6 maximum count frequency selector Parameter Discussion axisOrEncoder is the axis or encoder to be configured Legal values are through 4 axes
303. ns for the vector space specified This function is identical to calling the Load Target Position function up to three times once per each axis in the vector space Position values indicate the desired end location and direction of motion target position Target positions are double buffered so you can load them on the fly without affecting the move in process and they will take effect on the next Start Motion or Blend Motion function When the target positions are loaded they are interpreted as either absolute target positions relative target positions target positions relative to the last captured positions or with the effect of a position modulus depending on the mode set with the Set Operation Mode function Once you execute the start or blend the axes in the vector space will follow the programmed trajectory and end up at the absolute relative or modulo target positions Note Ifthe vector space contains less than three axes the extra target position values are ignored National Instruments Corporation 6 19 FlexMotion Software Reference Manual Chapter 6 Trajectory Control Functions flex_read_axis_status and flex_read_axis_status_rtn flex_read_axis_ status and flex_read_axis_status_rtn Read per Axis Status Format status flex_read_axis_status boardID axis returnVector status flex_read_axis_status_rtn boardID axis axisStatus Purpose Reads the motion status on a per ax
304. ns the result to the destination specified by the returnVector returnVector value variablel value variable2 value The result can be returned to a new variable or one of the two input variables returned to the host computer or thrown away In all cases the condition codes are set according to the resulting value GREATER THAN LESS THAN or EQUAL to zero This function is often used to compare two values prior to executing a conditional jump with the Jump to Label on Condition function In this case the result is typically thrown away by setting returnVector 0 National Instruments Corporation 12 43 FlexMotion Software Reference Manual Chapter 12 Onboard Programming Functions flex_xor_vars flex_xor_vars Exclusive OR Variables Format status flex_xor_vars boardID variable1 variable2 returnVector Purpose Performs a bitwise Exclusive OR XOR of the values in the two variables and returns the result Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer variable1 u8 first operand variable2 u8 second operand returnVector u8 destination for the result Parameter Discussion variablel is the variable holding of the first operand Valid variables are 0x01 through 0x78 variable2 is the variable holding the second operand Valid variables are 0x01 through 0x78 returnVector indicates the desired destination for the result of
305. ntage At power up reset velocity override is always reset to 100 Velocity override it commonly used in machine tool and other applications to reduce the speed of a programmed motion sequence and can be used to implement a feed hold by setting the value to zero 0 You can directly use a scaled value from an analog input as the velocity override value FlexMotion Software Reference Manual 6 92 www natinst com Chapter 6 Trajectory Control Functions flex_read_dac and flex_read_dac_ritn flex_read_dac and flex_read_dac_rtn Read DAC Format status flex_read_dac boardID axisOrDAC returnVector status flex_read_dac_rtn boardID axisOrDAC DACValue Purpose Reads the commanded DAC output value for an axis Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer axisOrDAC u8 axis or DAC to read returnVector u8 destination for the return data Output Name Type Description DACValue il6 commanded DAC output value Parameter Discussion axisOrDAC is the axis or DAC to read return Vector indicates the desired destination for the return data generated by this function Available returnVectors include return data to the host OxFF return data to a variable 0x01 through 0x78 and don t return data 0 ay Note The suffix _rtn on the function indicates that the data should be returned to the host When this calling convention is used n
306. ntroller The CSR is a hardware register containing communication handshaking and error status bits The FlexMotion software polls this register continuously when sending and receiving packets for handshaking and error checking purposes Refer to your motion controller user manual for more information on low level communication protocols and return data packets You can also call this function at any time to check the communication and error status Because the CSR is always up to date and directly accessible over the computer bus executing this function does not affect the operation of the FlexMotion controller itself National Instruments Corporation 13 13 FlexMotion Software Reference Manual Chapter 13 Advanced Functions flex_reset_defaults flex_reset_defaults Reset Default Parameters Format status flex_reset_defaults boardID Purpose Resets the power up defaults to the factory default settings Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer Using This Function The Reset Default Parameters function resets the power up defaults to the factory default settings for all important configuration initialization and trajectory parameters for use after subsequent power up resets When you execute this function the default values for all parameters listed in Appendix C Default Parameters are saved to nonvolatile flash memory and become the power
307. nual 12 16 www natinst com Chapter 12 Onboard Programming Functions flex_set_status_momo Using This Function The Set User Status MOMO function controls the upper three bits in the Move Complete Status MCS register using the mustOn MustOff protocol You can use this function in programs to report special conditions back to the host computer by setting and resetting one or more of these bits Refer to the Read Move Complete Status function for more information on using the MCS register for high speed polling Using the MustOn MustOff protocol allows you to set or reset individual user status bits without affecting the other user status bits This gives you tri state control over each bit True False or Unchanged A one 1 in a bit location of the MustOn bitmap sets the user status bit high while a one 1 in the corresponding location of the MustOff bitmap resets the user status bit low A zero 0 in either bitmap has no affect so leaving both the MustOn and MustOff bits at zero is effectively a hold and the state of the user status bit is unchanged If you set both the MustOn and MustOff bits to one 1 it is interpreted as a MustOn condition and the user status bit is set high Example After a conditional jump in a program you want the program to flag the host with a success code This can be accomplished by storing the Set User Status MOMO with mustOn 0xA0 and mustOff 0x40 This forces user status bits 13 and 15 True and user s
308. o Point Position Control FlexMotion implements an industry standard trapezoidal profile control for point to point moves FlexMotion has enhanced the trapezoidal profile to offer independent acceleration and deceleration value programming and s curve smoothing jerk control of the acceleration deceleration inflection points FlexMotion Software Reference Manual 4 14 www natinst com Chapter 4 Software Overview Motion occurs first with a programmable acceleration smoothed by the s curve value then for a period at a constant velocity if required and then with a programmed deceleration stopping at the desired target position You can interrupt motion by executing a Stop Motion function Motion is automatically halt stopped if an enabled limit or home input signal becomes active during a motion trajectory controlled move On closed loop axes if the following error trip point is exceeded the axis is killed Programmed Velocity Acceleration Deceleration Figure 4 6 Trapezoidal Trajectory with S Curve Acceleration You can specify trapezoidal moves as absolute relative relative to captured position or modulo with the Set Operation Mode function Velocity Control Velocity control is a simple variation of trapezoidal position based control The same trajectory generator implements a continuous velocity control mode If you select this mode the target position is effectively infinity and the axis moves at the progr
309. o returnVector is required DACValue is the 16 bit commanded DAC output value from the PID loop where 32 767 corresponds to 10 V output and 32 768 corresponds to 10 V output National Instruments Corporation 6 93 FlexMotion Software Reference Manual Chapter 6 Trajectory Control Functions flex_read_dac and flex_read_dac_rtn Using This Function The Read DAC function returns the value of the specified DAC output When sent to an axis this function returns the value of the primary DAC mapped to that axis The signed 16 bit value returned corresponds to the 10 V full scale range of the DAC This function is used to monitor the output command from the PID loop When the DAC output is connected to a torque block servo amplifier you can use this value to calculate motor torque or to monitor the acceleration and deceleration portions of a trajectory to see how close the control loop is to saturating at its maximum torque limits When the DAC output is connected to a velocity block servo amplifier the DAC value read is a direct representation of the instantaneous commanded velocity FlexMotion Software Reference Manual 6 94 www natinst com Chapter 6 Trajectory Control Functions flex_read_dac_limit_status and flex_read_dac_limit_status_rtn flex_read_dac_limit_status and flex_read_dac_limit_status_rtn Read DAC Limit Status Format status flex_read_dac_limit_status boardID returnVector status flex_read_dac_limi
310. oad Gear Ratio 6 Yes 31 Advanced Trajectory Functions flex_acquire_trajectory_data Acquire Trajectory Data 6 No 292 flex_load_base_velocity Load Base Velocity 4 Yes 28 flex_load_blend_fact Load Blend Factor 4 Yes 36 flex_load_pos_modulus Load Position Modulus 5 Yes 284 flex_load_rpm_thresh Load Velocity Threshold in 7 Yes 376 RPM flex_load_scurve_time Load S Curve Time 4 Yes 287 flex_load_torque_lim Load Torque Limit 7 Yes 62 flex_load_torque_offset Load Torque Offset 5 Yes 63 flex_load_vel_threshold Load Velocity Threshold 5 Yes 393 flex_load_velocity_override Load Velocity Override 4 Yes 74 flex_read_dac Read DAC 3 Yes 64 flex_read_dac_rtn flex_read_dac_limit_status Read DAC Limit Status 3 Yes 60 flex_read_dac_limit_status_rtn flex_read_steps_gen Read Steps Generated 3 Yes 66 flex_read_steps_gen_rtn flex_read_target_pos Read Target Position 3 Yes 40 flex_read_target_pos_rtn flex_read_trajectory_data Read Trajectory Data 3 Yes 18 flex_read_trajectory_data_rtn National Instruments Corporation B 3 FlexMotion Software Reference Manual Appendix B FlexMotion Functions Table B 1 FlexMotion Function Summary Continued Function Name Description Word Count Uses Vectors Command ID Start amp Stop Motion Functions flex_blend Blend Motion 4 No 22 flex_start Start Motion 4 No 21 flex_stop_motion Stop Motion 5 No 384
311. oad_pwm_duty 10 12 www natinst com Index R high speed capture functions flex_read_cap_pos 8 36 to 8 37 flex_read_cap_pos_rtn 8 36 to 8 37 read functions advanced functions flex_read_csr_rtn 13 12 to 13 13 advanced trajectory functions flex_read_dac 6 93 to 6 94 flex_read_dac_limit_status 6 95 to 6 96 flex_read_dac_limit_status_rtn 6 95 to 6 96 flex_read_dac_rtn 6 93 to 6 94 flex_read_steps_gen 6 97 to 6 98 flex_read_steps_gen_rtn 6 97 to 6 98 flex_read_target_pos 6 99 to 6 100 flex_read_target_pos_rtn 6 99 to 6 100 flex_read_trajectory_data 6 101 to 6 102 flex_read_trajectory_data_rtn 6 101 to 6 102 analog amp digital I O functions flex_read_adc 10 13 to 10 14 flex_read_adc_rtn 10 13 to 10 14 flex_read_encoder 10 15 to 10 16 flex_read_encoder_rtn 10 15 to 10 16 flex_read_port 10 17 to 10 18 flex_read_port_rtn 10 17 to 10 18 breakpoint functions flex_read_breakpoint_status 8 29 to 8 30 flex_read_breakpoint_status_rtn 8 29 to 8 30 data operations functions flex_read_var 12 41 to 12 42 flex_read_var_rtn 12 41 to 12 42 error amp utility functions flex_read_err_msg_rtn 11 11 to 11 12 National Instruments Corporation 1 13 flex_read_hs_cap_status 8 38 to 8 40 flex_read_hs_cap_status_rtn 8 38 to 8 40 motion I O functions flex_read_home_input_status 8 11 to 8 12 flex_read_home_input_status_rtn 8 11 to 8 12 flex_read_limit_status 8 13 to 8 14 flex
312. of ADC channels to enable D15 D14 D13 D12 DiI D10 D9 D8 D7 D6 D5 D4 D3 D2 DI DO 0 0 0 0 0 0 0 0 ADC8 ADC7 ADC6 ADC5 ADC4 ADC3 ADC2 ADC 1 DO through D7 1 ADC channel enabled default 0 ADC channel disabled Using This Function The Enable ADCs function enables one or more independent ADC channels for use as general purpose analog inputs This function has no effect on channels that are mapped to axes and being used for axis feedback These feedback channels are automatically enabled disabled when you enable or disable their corresponding axis with the Enable Axes function Bit locations corresponding to mapped ADC channels are ignored National Instruments Corporation 10 7 FlexMotion Software Reference Manual Chapter 10 Analog amp Digital I O Functions flex_enable_adcs 3 The FlexMotion Analog to Digital Converter ADC multiplexes between channels with a scan rate of approximately 50 us per channel 40 us for the 7344 controller Therefore the time between samples for a specific ADC channel is as follows ADC sample time 50 us channel x number of enabled channels By default all channels are enabled at power up You should disable unused channels to increase the scan rate and decrease the sample time Note The 50 us channel scan rate is fast enough to support analog feedback at the fastest PID update rates as long as no additional ADC channels are enab
313. of time in milliseconds to wait for the blend to become complete pollInterval is the amount of time in milliseconds to wait between successive queries to the controller to determine if the blend is complete blendComplete indicates whether or not the blend is complete on the axes or vector spaces specified 1 Blend complete 0 Blend not complete FlexMotion Software Reference Manual 6 50 www natinst com Chapter 6 Trajectory Control Functions flex_wait_for_blend_complete Using This Function This utility function is built on top of the Check Blend Complete Status and Read Blend Status functions and is provided for your programming convenience This function compares the axes or vector spaces specified in the axisOrVectorSpace and axisOrVSMap input parameters with the blend complete status for the appropriate axes or vector spaces It does this repetitively with the pollInterval time determining the frequency that the controller is queried As soon as the blend is complete the function returns NIMC_noError and the blendComplete parameter is set to true 1 This function will wait for the amount of time specified by the timeout parameter and if the blend is still not complete the function returns NIMC_eventTimeoutError and blendComplete is set to false 0 The output is a single true false value indicating whether or not the specified blend or blends are complete For more information on blend complete status refer to the
314. omation Explorer axis u8 axis to configure parameterType ul6 selects PID parameter to load PIDValue ul6 PID value to load inputVector u8 source of the data for this function Parameter Discussion axis is the axis to configure parameterType is the selector for the PID parameter to load National Instruments Corporation parameterType Constant parameterType Value NIMC_KP 0 NIMC_KI 1 NIMC_IL 2 NIMC_KD 3 NIMC_TD 4 NIMC_KV 5 NIMC_AFF 6 NIMC_VFF 7 5 21 FlexMotion Software Reference Manual Chapter 5 Axis amp Resource Configuration Functions flex_load_single_pid_parameter PIDValue is the value to load for the selected PID parameter PID Parameter Abbreviation Data Ranges Default Proportional Gain Kp 0 to 32 767 100 Integral Gain Ki 0 to 32 767 0 Integration Limit Tlim 0 to 32 767 1 000 Derivative Gain Kd 0 to 32 767 1 000 Derivative Sample Period Td 0 to 63 2 Velocity Feedback Gain Kv 0 to 32 767 0 Acceleration Feedforward Gain Aff 0 to 32 767 0 Velocity Feedforward Gain Vff 0 to 32 767 0 inputVector indicates the source of the data for this function Available inputVectors include immediate OxFF or variable 0x01 through 0x78 Using This Function Refer to Chapter 4 Functional Overview of your motion controller user manual for an overview of the enhanced PID control loop on the FlexMotion controller The Load Single PID Paramet
315. on ix FlexMotion Software Reference Manual Contents Chapter 9 Find Home amp Index Functions flex_find_home eseeessessssesssecsscesresssssessscesresersosssescerocerso FLEX AINE E E nTa LE AE A E EAE owas Chapter 10 Analog amp Digital I O Functions flex_configure_encoder_filter eee eeeceeeeeeeeeeeeceneeee flex_configure_PWM_OUtPUE oe eee ceeeeeneeceeeecneeeeeeeeees flex cenable adCS i332 3ec eee ee eS flex_enable encoders sesssesssesereesessssssesseceeresessssssesssreo flex 07e a sda 4 BA AE ee ee E flex load pwm DULY ne n a ine cosneeveneties flex_read_adc and flex read ade ree aa aae flex_read_encoder and flex_read_encoder_rtn s essessessesssceercserssessseseroeerssessse flex_read_port and TCX read portri seieren a AEREA a EDE E ANEO S EAEE EE EE E EE flex select STS MA eves cusesoccsvecievsceacscuectancdecnessinedvovervecsepecssieese PlEX Seta ade PAN Ge 5250 scciscdes E EEE R flex Set POrt CITE CUION ssrin iia e a flex _Set_POTrt_MOMO ce eeseesceeeecesseceeeeceeeeneeeeeeeenecenecees flex Set POrt pol enasna a e eA Chapter 11 Error amp Utility Functions flex_get_error_description ssesessesessessessrssresrrssrrsrrssessees flex_get_motion_board_info essessssesesseserssesseeseresesseese flex_get_motion_board_name eesesseseeseesseeseresresressrssee flex r ad etr NSB TIN renne ana i eia Chapter 12 Onboard Programming Fu
316. onboard program specified on the subsequent power up The onboard program to be executed should be saved to FLASH using the Object Memory Management function before the controller is powered down If the controller does not find a valid program that it can load NIMC_autoStartFailedError is generated 3 Note This function writes to onboard memory and hence it is not safe to execute when motors are in motion Doing so will generate a NIMC_wrongModeError FlexMotion Software Reference Manual 13 8 www natinst com Chapter 13 Advanced Functions flex_enable_shutdown flex enable shutdown Enable Shutdown Format status flex_enable_shutdown boardID Purpose Enables the shutdown functionality of the controller Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer Using This Function The Enable Shutdown function enables the controller to react to the shutdown input When the shutdown input transitions from low to high the controller goes into a shutdown state The following actions take place in the shutdown state All the axes are killed On servo axes the control loop is disabled and the output DACs are zeroed allowing frictional forces alone to stop the motion On stepper axes the stepper pulse generation is stopped On both axis types there is no trajectory profile If enabled the inhibit output is activated to inhibit disable the servo amplifier or s
317. ondition function in a program had an invalid label 116 NIMC _invalidConditionCodeError Condition selected is invalid 117 NIMC_homeLimitNotEnabledError Find Home function cannot execute because the Home and or Limit inputs are not enabled 118 NIMC_findHomeError Find Home was not successful because the motor stopped before the find home switch was found 119 NIMC_limitSwitchActiveError The desired move cannot be completed because the limit input is active in the direction of travel 121 NIMC _positionRangeError Absolute target position loaded would cause the move length to be out of the 31 bit range allowed for a single move segment 122 NIMC _encoderDisabledError The encoder is disabled The encoder must be enabled to read it 123 NIMC_moduloBreakpointError The breakpoint value loaded exceeds the modulo range 124 NIMC_findIndexError Find Index sequence did not find the index successfully 125 NIMC_wrongModeError The function was not executed because it was attempted at an illegal time 126 NIMC_axisConfigurationError An axis cannot be configured while enabled Disable the axis and then configure it 127 NIMC _pointsTableFullError The points table for cubic splining is full National Instruments Corporation A 9 FlexMotion Software Reference Manual Appendix A Error Codes Table A 1 Error Codes Summary Continued Error Code Symbolic Name Description
318. onfig_mc_criteria Configure Move Complete 6 No 285 Criteria flex_config_step_mode_pol Configure Step Mode amp 4 No 65 Polarity flex_config_vect_spc Configure Vector Space 6 No 280 flex_enable_axes Enable Axes 4 No 3 flex_load_counts_steps_rev Load Counts Steps per 4 No 406 Revolution flex_load_pid_parameters Load All PID Parameters 11 Yes 32 flex_load_single_pid_parameter Load Single PID Parameter 5 Yes 385 flex_load_vel_tc_rs Configure Velocity Filter 5 Yes 45 flex_set_stepper_loop_mode Set Stepper Loop Mode 5 No 381 Trajectory Control Functions flex_check_blend_complete_ Check Blend Complete N A status Status flex_check_move_complete_ Check Move Complete N A status Status National Instruments Corporation B 1 FlexMotion Software Reference Manual Appendix B FlexMotion Functions Table B 1 FlexMotion Function Summary Continued Function Name Description Word Count Uses Vectors Command ID flex_load_acceleration Load 6 Yes 379 Acceleration Deceleration flex_load_follow_err Load Following Error 4 Yes 47 flex_load_rpm Load Velocity in RPM 7 Yes 371 flex_load_rpsps Load Accel Decel in 8 Yes 380 RPS sec flex_load_target_pos Load Target Position 5 Yes 39 flex_load_velocity Load Velocity 5 Yes 391 flex_load_vs_pos Load Vector Space Position 9 Yes 378 flex_read_axis_status Read per Axis Status 3 Yes 326 flex_read_axis_status_rt
319. operating in PID mode with torque block amplifiers In this case because the following error is proportional to the torque required not to the velocity it is typically much smaller and velocity feedforward is not required Example To load a Kp of 1 000 to an axis 5 call the Load Single PID Parameter function with the following parameters axis 5 parameterType NIMC_KP PIDValue 1 000 inputVector OxFF Immediate National Instruments Corporation 5 27 FlexMotion Software Reference Manual Chapter 5 Axis amp Resource Configuration Functions flex_load_vel_tc_rs flex_load vel tc rs Configure Velocity Filter Format status flex_load_vel_tc_rs boardID axis filterTime runStopThreshold inputVector Purpose Loads the time constant for the velocity filter and sets the velocity threshold above which an axis will be considered running Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer axis u8 axis to be controlled filterTime ul6 filter time constant in Sample Periods runStopThreshold ul6 Run Stop threshold velocity in counts or steps sample period inputVector u8 source of the data for this function Parameter Discussion axis is the axis to be controlled filterTime is the velocity filter time constant in update sample periods The range for this parameter is 0 to 255 with a default value of 10 sample periods runStop
320. or Visual Basic for Windows u8 Data Type Not Supported Because Visual Basic does not support the u8 data type all the FlexMotion functions that take parameters that are of type u8 can be passed integers The FlexMotion DLL ignores the upper byte of the integer passed FlexMotion Software Reference Manual 3 6 www natinst com Chapter 3 Programming Language Considerations For example the Enable Axes function which has the data type for boardID and PIDrate as u8 can be called as shown in the following example Example Dim status as long Dim boardID as integer Dim PIDrate as integer Dim axisMap as integer boardID 1 The board identification number PIDrate NIMC_PID_RATE_250 250 microsecond update rate axisMap amp H1E Enable axes 1 through 4 status flex_enable_axes boardID 0 PIDrate axisMap Data Returned by Reference The FlexMotion functions that return data do so in variables passed into the function by reference Example Dim status as long Dim boardID as integer Dim position as long Dim axis as integer boardID 1 axis 1 status flex_read_pos_rtn boardID axis position The position for axis one is returned in the position variable Data Returned in Arrays While passing an array to a FlexMotion function in Visual Basic you need to pass the first element of the array by reference Example You would pass in returnData 0 as your parameter where r
321. or 0x21 through 0x24 encoders For configuring encoders mapped to axes you can call this function on the axis or directly on its mapped encoder FlexMotion Software Reference Manual 10 2 www natinst com Chapter 10 Analog amp Digital I O Functions flex_configure_encoder_filter frequency selects the maximum count frequency for the specified encoder frequency Value Maximum Count Frequency 0 25 6 MHz 1 12 8 MHz 2 6 4 MHz 3 3 2 MHz 4 1 6 MHz default 5 800 kHz 6 400 kHz 7 200 kHz 8 100 kHz 9 50 kHz 10 25 kHz Using This Function Setting the maximum allowable count frequency for an encoder is useful for reducing the effect of noise on the encoder lines Noise on the encoder lines can be interpreted as extra encoder counts By setting the frequency to the lowest possible setting required for your motion application you can ensure the highest degree of accuracy in positioning In choosing the appropriate value you should take into account the counts per revolution of your encoder and the maximum velocity for the axis in question For example with a 20 000 counts per revolution encoder and a maximum velocity of 3 000 RPM 50 revolutions per second the encoder signal could be as high as 1 000 000 counts per second A frequency value of 4 which would correspond to a maximum count frequency of 1 6 MHz would be appropriate in this case If you never call this function a
322. or D1 through D3 1 Stop vector space 0 Do not stop vector space To stop a single axis or vector space set the axisOrVectorSpace selector to the desired axis or vector space The axisOrVSMap bitmap is ignored To stop multiple axes the axisOrVectorSpace selector is set to 0 zero and the axisOr VSMap bitmap defines the axes to be stopped Similarly to stop multiple vector spaces the axisOrVectorSpace selector is set to 0x10 and the axisOrVS Map bitmap defines the vector spaces to be stopped Sy Note It is not possible to combine the stop of an axis and the stop of a vector space in a single use of this function To accomplish this create a single axis vector space and then execute a multi vector space stop Using This Function The Stop Motion function is used to stop a motion profile on axes or vector spaces either simultaneously or individually You can execute three different types of stops with the Stop Motion function decel stop halt stop and kill stop When a decel stop is executed NIMC_DECEL_STOP the axis axes or vector space s will immediately begin to follow the deceleration portion of their trajectory National Instruments Corporation 7 9 FlexMotion Software Reference Manual Chapter 7 Start amp Stop Motion Functions flex_stop_motion profile as controlled by previously loaded deceleration and s curve parameters The actual stopped position is therefore dependent upon this deceleration trajector
323. or mode of the FlexMotion controller All errors of these types are classified as modal errors This modal error structure also correctly detects errors generated by incorrectly sequenced functions in onboard programs Error Message Stack Modal errors cannot be enunciated in a function return status Instead they generate an error message containing the command ID resource ID and error code that is pushed on the Error Message Stack on the FlexMotion controller and flagged in the Error Message Err Msg bit of the Communication Status Register CSR You can return a modal error message to the host by executing the Read Error Message function The Error Message Stack is organized as a last in first out LIFO buffer so that the most recent error is available immediately Older errors can be read with additional calls to the Read Error Message function and are returned in the inverse order to which they were generated When the stack is empty the Error Message Err Msg bit in the CSR is reset The Error Stack can hold up to 30 errors When the stack is full an unlikely event additional error messages are thrown away Communicate versus Individual Function Entry Points The FlexMotion software offers individual entry points for each API function plus a single entry point function Communicate which can send any function packet The individual entry points perform more extensive error checking than Communicate because they are aware of t
324. or velocity revolutions per second square Units for acceleration and deceleration FlexMotion Software Reference Manual RTSI sec servo slot step output rate stepper T toggle torque trapezoidal profile trigger trigger buffer inputs TTL National Instruments Corporation G 10 Glossary Real Time System Integration bus the National Instruments timing bus that connects controllers directly by means of connectors on top of the controllers for precise synchronization of functions seconds seconds 1 specifies an axis that controls a servo motor 2 specifies when a servo motor becomes active a position where a module can be inserted into an ISA or PCI backplane The frequency of the step output control pulses generated by a controller indexer and provided to an amplifier driver The combination of step output rate steps s steps per revolution steps rev and time 60 s minute provide a basic representation of motor velocity in RPM Linear speed may be further derived by additional mechanical data lead screw revolutions per inch and so on specifies an axis that controls a stepper motor changing state from high to low back to high and so on force tending to produce rotation A typical motion trajectory where a motor accelerates up to the programmed velocity using the programmed acceleration traverses at the programmed velocity and then decelerates at the programmed acceleration to
325. orporation 9 3 FlexMotion Software Reference Manual Chapter 9 Find Home amp Index Functions flex_find_home Edge Forward Reverse gt lt Reverse Forward Edge Edge Location Location t Approach Direction Home Switch Active Region aro 5 Initial Search Direction a Figure 9 1 Find Home Definitions When the home switch is found the Home Found status is set to True If the home sequence fails to locate the desired edge of the home signal the Home Found status is False You can monitor this status with the Read per Axis Status function You can execute the Find Home function on systems without a home switch In this case the sequence always terminates at the limit switch opposite to the initial search direction The Home Found status is false and the edge and approach direction features are not applicable Caution You must enable both Limits and Home inputs prior to executing the Find Home function If any of the axes limit or home inputs are disabled the Find Home function does not start and a modal error is generated Note After a Find Home sequence is complete the home input should be disabled because it is no longer required assuming you do not want to stop on it the next time the system moves past it An unexpected limit condition during the find home sequence stops the sequence and generates a modal error For information about errors and error handling refer to Chapt
326. orque Limits Example The result of this function call is to limit the primary DAC to only half its range in either direction or 5 V The secondary DAC can only travel over a quarter of its positive range but has its full negative range www natinst com flex_load_torque_offset Chapter 6 Trajectory Control Functions flex_load_torque_offset Load Torque Offset Format status flex_load_torque_offset boardID axis primaryOffset secondaryOffset input Vector Purpose Loads primary and secondary DAC torque offsets for an axis Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer axis u8 axis to be controlled primaryOffset i16 offset for primary DAC secondaryOffset il6 offset for secondary DAC inputVector u8 source of the data for this function Parameter Discussion axis is the axis to be controlled primaryOffset is the primary DAC torque or velocity offset The offset range is 32 768 to 32 767 10 V to 10 V with a default value of 0 0 V secondary Offset is the secondary DAC torque or velocity offset The offset range is 32 768 to 32 767 Sy Note The offset value must be within the range limits set by the Load Torque Limit function inputVector indicates the source of the data for this function Available input Vectors include immediate OxFF or variable 0x01 through 0x78 National Instruments Corporatio
327. otion Software Reference Manual 6 22 www natinst com Chapter 6 Trajectory Control Functions flex_read_axis_status and flex_read_axis_status_rin Example Read per Axis Status is called on axis 4 and the function returns axisStatus 0OxBE02 The returned value OxBE02 corresponds to the following bitmap D15 D14 D13 D12 Dil D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO MC BC Dir HSC IF HF BP VT XXX S W Home Limit FE MOff PC R S Limit 1 0 1 1 1 1 1 0 0 0 0 0 0 0 1 0 The trajectory profile is complete the move is complete the motor is not running but it is enabled there was no following error trip no active limits home or software limits a blended move is pending there was a position breakpoint velocity is below the threshold the last find home and find index completed successfully there was a high speed position capture and the last move was in the reverse direction National Instruments Corporation 6 23 FlexMotion Software Reference Manual Chapter 6 Trajectory Control Functions flex_read_blend_status and flex_read_blend_status_rtn flex_read_blend_status and flex_read_blend_status_rtn Read Blend Status Format status flex_read_blend_status boardID axisOrVectorSpace return Vector status flex_read_blend_status_rtn boardID axisOrVectorSpace blendStatus Purpose Reads the Blend Complete status for all axes or vector spaces
328. ou can get all four trajectory statuses for a single axis by calling the Read per Axis Status function National Instruments Corporation 6 37 FlexMotion Software Reference Manual Chapter 6 Trajectory Control Functions flex_read_trajectory_status and flex_read_trajectory_status_rtn Example To get Motor Off status call the Read Trajectory Status function with axisOrVectorSpace 0 and statusType NIMC_MOTOR_OFF_STATUS Assume the returned status 0x0062 This corresponds to the following bitmap D15 D14 D13 D12 Dil D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO XXX XXX XXX XXX XXX XXX XXX XXX XXX Axis Axis Axis Axis Axis Axis XXX Axes 1 5 6 are Off For your programming convenience two utility functions Check Move Complete Status and Wait for Move Complete are provided which allow you to specify an axis vector space group of axes or group of vector spaces and find out if a move is complete or wait until a move is complete These functions return a simple true false value indicating whether or not a move is complete FlexMotion Software Reference Manual 6 38 www natinst com Chapter 6 Trajectory Control Functions flex_read_velocity and flex_read_velocity_rtn flex_read_velocity and flex_read_velocity_rtn Read Velocity Format status flex_read_velocity boardID axisOr VectorSpace returnVector status flex_read_velocity_rtn boardID axisOrVectorSpa
329. ou can simultaneously run up to ten 10 programs in the preemptive multitasking environment of the FlexMotion controller A program can run another program but you cannot have a program run itself Attempting to store a recursive Run Program function in a program generates an error and does not store the function National Instruments Corporation 12 15 FlexMotion Software Reference Manual Chapter 12 Onboard Programming Functions flex_set_status_momo flex_set_status_ momo Set User Status MOMO Format status flex_set_status_momo boardID mustOn mustOff Purpose Controls the user status bits in the Move Complete Status MCS register Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer mustOn u8 bitmap of user status bits to be forced True mustOff u8 bitmap of user status bits to be forced False Parameter Discussion mustOn is the bitmap of user status bits to be forced True D7 D6 DS D4 D3 D2 D1 DO mustOn Sts15 mustOn Sts14 mustOn Sts13 0 0 0 0 0 D5 through D7 1 User status bit forced True 0 User status bit unchanged default mustOff is the bitmap of user status bits to be forced False D7 D6 DS D4 D3 D2 D1 DO mustOff Sts15 mustOff Sts14 mustOff Sts13 0 0 0 0 0 D5 through D7 1 User status bit forced False 0 User status bit unchanged default FlexMotion Software Reference Ma
330. our motion control system on the fly All of the functions in this chapter have default values that provide good starting points for many motion control applications As a quick reference a summary of the entire FlexMotion function API is in Appendix B FlexMotion Functions National Instruments Corporation 5 1 FlexMotion Software Reference Manual Chapter 5 Axis amp Resource Configuration Functions flex_contig_axis flex_config_axis Configure Axis Resources Format status flex_config_axis boardID axis primaryFeedback secondaryFeedback primaryOutput secondaryOutput Purpose Configures an axis by defining its feedback and output resources Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer axis u8 axis to be configured primaryFeedback u8 primary encoder or ADC feedback resource secondaryFeedback u8 secondary encoder or ADC feedback resource primaryOutput u8 primary DAC or step output resource secondaryOutput u8 secondary DAC or step output resource Parameter Discussion axis is the axis to be configured Valid axis numbers are 1 through 6 for all FlexMotion controllers On reduced axis count controllers configuring non existent axes will have no effect primaryFeedback is the number for the primary feedback resource being mapped to the axis The primary feedback resource is used for position feedback and derivative Kd damping
331. out affecting the other bits in the bitmap Refer to Table B 1 FlexMotion Function Summary in Appendix B FlexMotion Functions to help you locate the MOMO functions on this protocol Bitmapped functions act on all items simultaneously You should not use these functions incrementally because each execution completely reconfigures all items in the bitmap Single and Double Buffered Parameters Almost all FlexMotion parameters are either single buffered or double buffered on the controller Single buffered parameters take effect immediately upon function execution and remain in effect until they are overwritten with another call to the function that loaded or set them It is not necessary to constantly reload single buffered parameters each time you deal with an axis vector space or resource The obvious exception to this is action commands like Start Motion Stop Motion Find Home and so on which must be called each time FlexMotion Software Reference Manual 4 10 www natinst com Chapter 4 Software Overview Most trajectory control parameters are double buffered You can load these parameters on the fly without affecting the move in process They do not take effect until the next Start Motion or Blend Motion function is executed Like single buffered parameters the controller retains the values so they do not have to be loaded before each move unless you want to change their values Breakpoint position and breakpoint modulus are the o
332. output resources include DACs 0x31 through 0x36 on FlexMotion 6C controllers and 0x31 through 0x34 on 7344 controllers and Step Outputs 0x45 through 0x46 on FlexMotion 6C controllers and 0x41 through 0x44 on 7344 controllers Enter 0 zero to configure no secondary output resource Using This Function The Configure Axis Resources function defines the feedback and output devices for an axis You can configure up to two feedback resources and two output resources for each axis This flexible mapping of resources to axes allows for advanced servo and stepper configurations such as independent velocity and position feedback devices dual loop control dual DAC outputs with different offsets and so on The various feedback and output resources on the FlexMotion controller have different interface performance and functionality characteristics This function allows you to define the axis and tailor its performance The Configure Axis Resources function must be called for each axis that will be used by an application prior to enabling the axis The factory default mapping of resources to axes is as follows Primary Secondary Secondary Axis Feedback Feedback Primary Output Output 1 0x21 Enc 1 0 0x31 DAC 1 0 2 0x22 Enc 2 0 0x32 DAC 2 0 3 0x23 Enc 3 0 0x33 DAC 3 0 4 0x24 Enc 4 0 0x34 DAC 4 0 5 0x25 Enc 5 0 0x35 DAC 5 0 6 0x26 Enc 6 0 0x36 DAC 6 0 National Instruments Corporatio
333. ow the programmed trajectory and end up at the absolute relative or modulo target position National Instruments Corporation 6 15 FlexMotion Software Reference Manual Chapter 6 Trajectory Control Functions flex_load_velocity flex_load_velocity Load Velocity Format status flex_load_velocity boardID axisOr VectorSpace velocity inputVector Purpose Loads the maximum velocity for an axis or vector space Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer axisOrVectorSpace u8 axis or vector space to be controlled velocity 132 velocity in counts s or steps s inputVector u8 source of the data for this function Parameter Discussion axisOrVectorSpace is the axis or vector space to be controlled velocity is the target or maximum slewing velocity in counts s servo axes or steps s stepper axes For servo axes the velocity range is from 1 to 16 000 000 counts s For stepper axes it is 1 to 1 500 000 steps s The upper range limits are the physical limitations of the encoder inputs and stepper generator outputs Sy Note It is possible to load a velocity slower than 1 count or step per second by using the Load Velocity in RPM function Refer to the Trajectory Parameters section in Chapter 4 Software Overview for more information on velocity and acceleration units and their dependency on trajectory update rate inputVector indicates the
334. p D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO 0 0 0 0 0 0 0 0 0 Enc 6 Enc 5 Enc 4 Enc 3 Enc 2 Enc 1 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 Normally because encoders 1 2 5 and 6 are set to zero 0 they will be disabled by this function execution However if encoder 2 is already being used as feedback for axis 2 the disable 0 for Enc 2 is ignored resulting in the following bitmap of enabled encoders D15 D14 D13 D12 Dil D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO 0 0 0 0 0 0 0 0 0 Enc 6 Enc 5 Enc 4 Enc 3 Enc 2 Enc 1 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 FlexMotion Software Reference Manual There is a limit on the number of enabled encoders supportable at the faster update rates Attempting to enable too many encoders generates an error See the Enable Axes function for more information on update rate limitations 10 10 www natinst com Chapter 10 Analog amp Digital I O Functions flex_load_dac flex_load_dac Load DAC Format status flex_load_dac boardID DAC outputValue input Vector Purpose Loads an output value to an unmapped DAC resource Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer DAC u8 DAC to be controlled outputValue i16 value sent to the DAC inputVector u8 source of the data for this function Parameter Discu
335. pectively the result of the bitwise OR is OXDADA 1234 which is NOT EQUAL to zero FlexMotion Software Reference Manual 12 40 www natinst com Chapter 12 Onboard Programming Functions flex_read_var and flex_read_var_rtn flex_read_var and flex_read_var_rtn Read Variable Format status flex_read_var boardID variable1 return Vector status flex_read_var_rtn boardID variable1 value Purpose Reads the value of a variable and returns the result Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer variablel ug variable to be read returnVector u8 destination for the return data Output Name Type Description value 132 value of the variable Parameter Discussion variable1 is the variable to be read Valid variables are 0x01 through 0x78 return Vector indicates the desired destination for the result of this function Available return Vectors include return data to the host OxFF return data to a variable 0x01 through 0x78 and don t return data 0 3 Note The suffix _rtn on the function indicates that the data should be returned to the host When this calling convention is used no returnVector is required value is the value of the variable National Instruments Corporation 12 41 FlexMotion Software Reference Manual Chapter 12 Onboard Programming Functions flex_read_var and flex_read_var_rtn Using This Funct
336. pical servo axis with 2 000 counts per revolution operating at the 250 us update rate the minimum RPM increment is 1 65 536 x 4 000 x 60 2 000 0 00183105 RPM RPM values stored in onboard variables are in double precision IEEE format f64 For information about the number of variables required to hold an RPM value refer to Appendix D Onboard Variables Input and Return Vectors Velocity in Counts s or Steps s Velocity values in counts s or steps s are also converted to the internal 16 16 fixed point format in units of counts or steps per sample update period before being used by the trajectory generator Although FlexMotion can control velocity to 1 65 536 of a count or step per sample you can see from the following formula that it is impossible to load a value that small with the Load Velocity function Velocity in counts or steps s Vmin X 1 Ts where Vmin 1 65 536 counts sample or steps sample and Ts sample period in seconds per sample Even at the fastest update rate Ts 62 5 x 10 1 65 536 x 16 000 0 244 counts or steps s The Load Velocity function takes an integer input with a minimum value of 1 count s or step s You cannot load fractional values If you need to load a velocity slower than one count or step per second use the Load Velocity in RPM function FlexMotion Software Reference Manual 4 18 www natinst com Chapter 4 Software Overview Acceleration in RPS s Acceleration and deceleration
337. put Name Type Description boardID u8 assigned by Measurement amp Automation Explorer Output Name Type Description csr ul6 bitmap of communications status Parameter Discussion csr is the bitmap of communication status from the Communication Status Register D15 D14 D13 D12 Dil D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO XXX XXX XXX XXX XXX XXX XXX XXX HW Err PU Pkt PIP Int RTS RTR Fail Msg Reset Err For DO Ready to Receive RTR 1 Ready to receive a word from the host 0 Not ready to receive busy For D1 Ready to Send RTS 1 Ready to send a word from the RDB to the host 0 Not ready to send RDB empty For D2 Interrupt Int 1 Interrupt status 0 Normal data FlexMotion Software Reference Manual 13 12 www natinst com Chapter 13 Advanced Functions flex_read_csr_rin For D3 Packet In Process PIP 1 Waiting for more words to finish the packet 0 Idle For D4 Packet Error Pkt Err 1 Communication packet error 0 No error For D5 Power Up Reset PU Reset 1 Controller is in the Power Up state 0 Power Up state has been cleared For D6 Error Message Err Msg 1 Modal error message pending 0 No error For D7 Hardware Failure HW Fail 1 Fatal hardware error occurred 0 No error Using This Function The Read Communication Status function performs a direct read of the Communication Status Register CSR on the FlexMotion co
338. r Data or status requested by the host is buffered in the Return Data FIFO Buffer RDB The RDB is 26 words deep and is large enough to hold the biggest return data packet or many smaller return data packets National Instruments Corporation 4 21 FlexMotion Software Reference Manual Chapter 4 Software Overview When data exists in the RDB the Ready to Send bit in the CSR is set You can then use the Communicate function in mode 2 to retrieve the data from the RDB You can use the RDB in two ways as a temporary buffer holding a single return data packet or as a small FIFO buffer Typically once the requested data is available in the RDB it is read back by the host The _rtn version of each Read function for example f 1ex_read_pos_rtn performs this type of synchronous communication for you The function will not complete until the requested data is placed in the RDB by the FlexMotion controller and is then read from the RDB by the function It is possible however to request a number of pieces of data and leave them in the buffer for retrieval at a later time The FlexMotion Software supports both ways of using the RDB If the RDB fills up and there is no place to put requested return data FlexMotion generates an error and sets the Error Message bit in the CSR Errors and Error Handling To minimize the possibility of erroneous system operation functions packets and data are checked for errors at multiple levels within
339. r solutions including special sections devoted to our newest products The database is updated daily in response to new customer experiences and feedback e Troubleshooting Wizards Step by step guides lead you through common problems and answer questions about our entire product line Wizards include screen shots that illustrate the steps being described and provide detailed information ranging from simple getting started instructions to advanced topics e Product Manuals A comprehensive searchable library of the latest editions of National Instruments hardware and software product manuals e Hardware Reference Database A searchable database containing brief hardware descriptions mechanical drawings and helpful images of jumper settings and connector pinouts e Application Notes A library with more than 100 short papers addressing specific topics such as creating and calling DLLs developing your own instrument driver software and porting applications between platforms and operating systems National Instruments Corporation E 1 FlexMotion Software Reference Manual Appendix E Technical Support Resources Software Related Resources e Instrument Driver Network A library with hundreds of instrument drivers for control of standalone instruments via GPIB VXI or serial interfaces You also can submit a request for a particular instrument driver if it does not already appear in the library e Example Programs Database
340. r Space function is used to group axes into a vector space A vector space defines an x and y 2D or x y and z 3D coordinate space You can map any physical axis can be mapped to the logical x y and z axes to control motion in the vector space Once configured you can use the vector space number in all functions that support vector spaces Vector spaces are used in 2D and 3D linear interpolation with vector position vector velocity vector acceleration and deceleration and vector operation mode They are also used in circular helical and spherical arc moves You can start blend and stop vector spaces just National Instruments Corporation 5 11 FlexMotion Software Reference Manual Chapter 5 Axis amp Resource Configuration Functions flex_config_vect_spc like axes You can even synchronously start multiple vector spaces for multi vector space coordination Many status and data readback functions also operate on vector spaces You can read vector position vector velocity vector blend status and so on or you can read per axis values and status for the axes within the vector space While vector spaces can be comprised of three axes it is possible to define two axis or even one axis vector spaces These vector spaces will function properly for all functions that do not require a greater axis count You can use other complex motion control functions with vector spaces including electronically gearing an independent axis to a
341. r space x y z is defined in orientation only with no absolute position offset Its orientation is with respect to the xyz vector space and is defined in terms of pitch and yaw angles Pitch angle rotation comes before yaw angle rotation When rotating through the pitch angle the y and y axes stay aligned with each other while the x z plane rotates around them When rotating through the yaw angle the y axis never leaves the original xy plane as the 2 Saf newly defined x y z vector space rotates around the original z axis At the beginning of the move the axes are considered to be already on the arc in the x y plane This avoids any impossible situations where the end point of the last move and the beginning of the arc move are not coincident Spherical arcs are one of the most powerful unique and unfortunately complex features of FlexMotion They allow full 3D curvilinear motion for robotic solid modeling and other advanced applications FlexMotion Software Reference Manual 6 62 www natinst com Chapter 6 Trajectory Control Functions Gearing Functions Gearing Functions This subsection contains detailed descriptions of functions used to set up and control master slave gearing on the FlexMotion controller It includes functions to configure a gear master load a gear ratio and enable master slave gearing Gearing is an advanced feature of FlexMotion and is used in applications where either
342. r to derivative gain Kd except that it scales the velocity estimated from the secondary feedback resource only The derivative gain scales the derivative of the position error which is the difference between the instantaneous trajectory position and the primary feedback position Like the Kd term the velocity feedback derivative is calculated every derivative sample period and the contribution is updated every PID Sample Period The formula for calculating the velocity feedback contribution is as follows Vout 20 V 2 6 Kv position t1 position t0 where the time between t1 and t0 is the derivative sample period Velocity feedback is estimated through a combination of speed dependent algorithms At high speeds velocity is simply the change in position per sample At low speeds the estimator seamlessly transitions to a 1 T method that measures the time between encoder counts and then calculates the inverse This method is used for smoother performance when estimating velocities less than one encoder count per sample derivative sample period National Instruments Corporation 5 25 FlexMotion Software Reference Manual Chapter 5 Axis amp Resource Configuration Functions flex_load_single_pid_parameter Using Kv and a secondary feedback encoder creates a minor velocity feedback loop This is very similar to the traditional analog servo control method using a tachometer and a velocity block amplifier and is commonly referred to as
343. r trajectory generation If one or more axes are configured as stepper you must increase the PIDrate value by one 1 and operate at the correspondingly slower update rate FlexMotion Software Reference Manual 5 14 www natinst com Chapter 5 Axis amp Resource Configuration Functions flex_enable_axes There is also a limit on the total number of enabled encoders that you can service when PIDrate is below 3 PIDrate Update Rate Max Number of Encoders 0 62 5 us 1 1 125 us 3 2 188 us 5 3 250 us 6 If your application requires more encoders than can be serviced at a specific update rate you must increase PIDrate appropriately UN Caution Update rates that are too fast for the number of axes stepper outputs and or encoders enabled will generate an error and the previous setting will remain in effect For information about errors and error handling refer to Chapter 4 Software Overview The Enable Axes function will automatically enable the feedback devices mapped to the enabled axes It is not necessary to explicitly enable the encoders or ADC channels before enabling the axes Refer to the Enable Encoders and Enable ADCs functions for more information on enabling and disabling these resources when you are using them not mapped to an axis ay Note ADC channel scan rate is affected by the number of changes enabled This could limit the effective update rate for axes with analog feedback Refer to the Enabl
344. re further organized into advanced function subgroups This hierarchical organization makes the extensive FlexMotion API easy to understand and use Detailed descriptions for the functions in each group are in chapters 5 through 13 respectively Within each chapter and subsection the functions are arranged alphabetically by function name Each chapter and subsection begins with an overview that describes features and issues relating to all the functions in the section National Instruments Corporation 4 1 FlexMotion Software Reference Manual Chapter 4 Software Overview As a quick reference a summary of the entire FlexMotion API is in Appendix B FlexMotion Functions Axes Vector Spaces and Motion Resources Resource IDs FlexMotion can control up to six axes of motion The axes can be completely independent simultaneously coordinated or mapped in multidimensional groups called vector spaces Axes themselves consist of software and hardware blocks generically referred to as motion resources FlexMotion allows hardware resources that are not mapped to axes to be used independently as general purpose I O Many FlexMotion functions require an axis number or other resource ID to specify the target of the function You can send these functions to axes vector spaces or to the motion resources directly Other functions are dedicated or controller level and do not require a resource ID Valid resource choices are listed in each fun
345. read even if the signal is high when you read the bit ays Note PC and PCI FlexMotion controllers have three ports 1 2 and 3 National Instruments Corporation 10 31 FlexMotion Software Reference Manual Error amp Utility Functions This chapter contains detailed descriptions of error handling functions and utility functions for getting information about your motion controller Refer to Chapter 4 Software Overview for an overview of modal versus non modal errors and a discussion on error handling techniques The functions are arranged alphabetically by function name As a quick reference a summary of the entire FlexMotion function API is in Appendix B FlexMotion Functions National Instruments Corporation 11 1 FlexMotion Software Reference Manual Chapter 11 Error amp Utility Functions flex_get_error_description flex_get_error_description Get Error Description Format status flex_get_error_description descriptionType errorCode command ID resourceID charArray sizeOfArray Purpose Gets an error command and or resource description string as an ASCII character array Parameters Input Name Type Description descriptionType ul6 type of description selector errorCode 132 error code commandID ul6 command ID number resourceID ul6 resource ID number Input Output Name Type Description sizeOfArray u32 size of character array Output Name Type
346. read_trajectory_data_rtn Read Trajectory Data Format status flex_read_trajectory_data boardID returnVector status flex_read_trajectory_data_rtn boardID returnData Purpose Reads a sample of acquired data from the samples buffer Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer returnVector u8 destination for the return data Output Name Type Description returnData i32 Array of position and velocity data for selected axes Parameter Discussion return Vector indicates the desired destination for the return data generated by this function Available return Vectors include return data to the host OxFF return data to a variable 0x01 through 0x78 and don t return data 0 3 Note The suffix _rtn on the function indicates that the data should be returned to the host When this calling convention is used no returnVector is required returnData is an array of position and velocity data for the selected axes The size of the returnData array depends upon the number of axes selected with the Acquire Trajectory Data function For each axis selected this function returns two array elements position in counts steps and velocity in counts s steps s The maximum array size is 12 when all 6 axes are selected National Instruments Corporation 6 101 FlexMotion Software Reference Manual Chapter 6 Trajectory Control F
347. reakpoint output unchanged default National Instruments Corporation 8 31 FlexMotion Software Reference Manual Chapter 8 Motion 1 0 Functions flex_set_bp_momo mustOff is the bitmap of breakpoint outputs to be forced Off D7 D6 DS D4 D3 D2 D1 DO 0 mustOff 6 mustOff 5 mustOff 4 mustOff 3 mustOff 2 mustOff 1 0 For D1 through D6 1 Breakpoint output forced Off 0 Breakpoint output unchanged default B Note Breakpoints are only available on encoders 1 through 4 resources 0x21 through 0x24 Using This Function The Set Breakpoint Output MOMO function directly controls the breakpoint outputs and sets them high or low You can use this function to set breakpoint outputs to a known state or to control them as general purpose outputs in non breakpoint applications Breakpoint functionality is performed by the encoder resources themselves When this function is sent to axes the FlexMotion firmware consults the mapping of axes to encoders and actually sends the command to the mapped encoder resources Breakpoints are only available on encoder resources 0x21 through 0x24 so you can only control breakpoint outputs on axes 5 and 6 if these axes are using encoder resources 0x21 through 0x24 Using the MustOn MustOff protocol allows you to set or reset individual breakpoint outputs without affecting the other breakpoint outputs This gives you tri state control over each output On Off or Unchanged
348. red delay in milliseconds The range is from 1 to 23 1 ms Using This Function The Load Program Delay function suspends program execution for the number of milliseconds loaded Program execution resumes after the delay Delays can be as short as one or two milliseconds or as long as hundreds of hours National Instruments Corporation 12 11 FlexMotion Software Reference Manual Chapter 12 Onboard Programming Functions flex_pause_prog flex_pause_prog Pause Resume Program Format status flex_pause_prog boardID program Purpose Pauses a running program or resumes execution of a paused program Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer program u8 program number Parameter Discussion program is the program number Valid program numbers are 0x01 through OxFF 1 through 255 Using This Function The Pause Resume Program function suspends execution of a running program or resumes execution of a paused program A program can pause or resume another program and can also pause but not resume itself 3 Note Pausing a program does not affect a move already started and in progress It does not implement a Stop Motion function Any run time modal error in a program automatically pauses the program in addition to generating the error message For information about errors and error handling refer to the Read Error Message function an
349. required array size and once again to actually retrieve the description The number of characters required for the character array is always one more than the actual number of characters in the controller name due to the NULL terminator at the end of the string 3 Note If sizeOfArray is smaller than the actual description string this function returns a partial string with the last three characters replaced by to indicate that the string is not complete Example After executing a Find Index sequence on axis 1 a modal error is detected A call to the Read Error Message function returns the following set of parameters commandID 334 resourceID 0x01 errorCode 124 To generate an error description string for display call the Get Error Description function with these parameters plus a descriptionType sizeOfArray 0 and charArray NULL When the function returns sizeOfArray will have the size of the description in it Allocate memory for a character array of size sizeOfArray 1 Call the Get Error Description function a second time passing in the same parameters as before except sizeOfArray is the value of sizeOfArray 1 returned by the first function call and charArray points to the FlexMotion Software Reference Manual 11 4 www natinst com Chapter 11 Error amp Utility Functions flex_get_error_description character array just allocated This function returns the following strings depending upon the descritpionTyp
350. returns either the hardware limit input status or the software position limit status depending on the limit type selected When limitType NIMC_LIMIT_SWITCHES 0 this function returns the logical state of the forward and reverse limit inputs Note The polarity of the limit inputs determines whether an On state is active high or active low Refer to the Set Limit Input Polarity function for more information Alternatively when limitType NIMC_SOFTWARE_LIMITS 1 this function returns the state of the forward and reverse software limits A True On indicates that the forward or reverse limit position for the corresponding axis has been reached or exceeded You can read the status of the limit inputs and the software position limits at any time whether the limits are enabled or not Enabled limits cause axes to stop when their state transitions True Refer to the Enable Limits function for more information FlexMotion Software Reference Manual 8 14 www natinst com flex_set_home_polarity Chapter 8 Motion I O Functions flex_set_home_polarity Set Home Input Polarity Format status flex_set_home_polarity boardID homePolarityMap Purpose Sets the polarity of the home inputs as either inverting active low or noninverting active high Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer homePolarityMap ul6 bitmap of active polarities for the home input
351. reverse thus degrading rather than improving performance Velocity Feedforward The velocity feedforward gain Vff determines the contribution in the 16 bit DAC command output that is directly proportional to the instantaneous trajectory velocity This value is used to minimize following error during the constant velocity portion of a move and can be changed at any time to tune the PID loop Using velocity feedforward is an open loop compensation technique and cannot affect the stability of the system However if you use too large a value of Vff following error during the constant velocity portion can reverse thus degrading rather than improving performance Velocity feedforward is typically used when operating in PIVff mode with either a velocity block amplifier or substantial amount of velocity feedback Kv In these cases the uncompensated following error is directly proportional to the desired velocity You can reduce this following error by applying velocity feedforward Increasing the integral gain Ki will also reduce the following error during constant velocity but only at the expense of increased FlexMotion Software Reference Manual 5 26 www natinst com Chapter 5 Axis amp Resource Configuration Functions flex_load_single_pid_parameter following error during acceleration and deceleration and reduced system stability For these reasons increased Ki is not the recommended solution Velocity feedforward is rarely used when
352. ring flex_enable_gearing Enable Gearing Format status flex_enable_gearing boardID gearMap Purpose Enables slave axes for master slave gearing Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer gearMap ul6 bitmap of slave axes to enable for gearing Parameter Discussion gearMap is the bitmap of slave axes to enable for gearing D15 D14 D13 D12 Dil D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO 0 0 0 0 0 0 0 0 0 Axis Axis Axis Axis Axis Axis 0 6 5 4 3 2 1 D1 through D6 1 Gearing enabled 0 Gearing disabled default Using This Function The Enable Gearing function enables and disables master slave gearing functionality of slave axes When gearing is enabled the positions of the slave axes and their corresponding masters are recorded as their absolute gearing reference From then on as long as the gear ratio remains absolute every incremental change of a master position is multiplied by the corresponding absolute gear ratio and applied to the slave axis See the Load Gear Ratio function for more information about absolute versus relative gear ratios You must call the Configure Gear Master and Load Gear Ratio functions prior to enabling master slave gearing In addition you must enable and activate the slave axes before enabling gearing An error is generated if a slave is killed when gearing is enabled These checks ensure that the slave axis enables
353. rn Vectors section of Chapter 4 Software Overview Example The return vector version of the Read Position function has the following function prototype status flex_read_pos boardID axis return Vector When you use this function the data retrieved by the controller is placed into the general purpose variable indicated by the returnVector parameter National Instruments Corporation 3 9 FlexMotion Software Reference Manual Chapter 3 Programming Language Considerations If the returnVector is OxFF for Visual Basic users amp HFF the return data is placed in the Return Data Buffer RDB for later retrieval The _rtn version of Read Position function has the following function prototype status flex_read_pos_rtn boardID axis position where boardID and axis are inputs and position isan output When you use this function the FlexMotion software places the data retrieved from the controller into the position variable that you referenced when calling the function For C C users position is a pointer to an 132 For Visual Basic users position is of type long and the pass by reference behavior is made clear to the compiler by the function prototype in the Flexmotn bas header file Considerations when Using Functions with Input Vectors FlexMotion functions that take an input vector allow the data for the function to be loaded from different sources The inputVector argument in a function tells the FlexMotion con
354. rnVector is required National Instruments Corporation 8 29 FlexMotion Software Reference Manual Chapter 8 Motion 1 0 Functions flex_read_breakpoint_status and flex_read_breakpoint_status_rtn breakpointStatus is the bitmap of breakpoint status for all axes or all encoders When reading breakpoint status for axes axisOrEncoder 0 D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO XXX XXX XXX XXX XXX XXX XXX XXX XXX Axis6 Axis5 Axis4 Axis3 Axis2 Axis 1 XXX For D1 through D6 1 Breakpoint occurred 0 Breakpoint pending or never enabled When reading breakpoint status for encoders axisOrEncoder 0x20 D15 D14 D13 D12 Dil D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO XXX XXX XXX XXX XXX XXX XXX XXX XXX XXX XXX Enc 4 Enc 3 Enc 2 Enc XXX For D1 through D4 1 Breakpoint occurred 0 Breakpoint pending or never enabled Note Breakpoints are only available on encoders 1 through 4 resources 0x21 through 0x24 Using This Function The Read Breakpoint Status function allows you to see if a breakpoint has occurred or is pending When you enable a breakpoint the corresponding status bit is reset to indicate that the breakpoint is pending When the breakpoint position is reached its status bit is set to True 1 Example Executing the Read Breakpoint Status function with axisOrEncoder 0x20 and br
355. rogramming language syntax and special considerations that you need to know before you develop your FlexMotion application In addition to LabVIEW BridgeVIEW and LabWindows CVI the FlexMotion software supports the following industry standard programming environments e Microsoft Visual C C e Borland C C e Microsoft Visual Basic e Any programming environment that can call into DLLs This chapter includes information specific to each language environment as well as general syntax information that applies to all languages Variable Data Types Every function description has a parameter table that lists the data types for each parameter The following sections describe the notation used in those parameter tables and throughout the manual for variable data types National Instruments Corporation 3 1 FlexMotion Software Reference Manual Chapter 3 Programming Language Considerations Primary Types Table 3 1 shows the primary type names and their ranges Table 3 1 Primary Type Names Type Type Pascal Borland Name Description Range C C Visual BASIC Delphi u8 8 bit ASCII 0 to 255 Char Not supported by Byte character BASIC For functions that require character arrays use string types instead il6 16 bit signed 32 768 to 32 767 Short Integer SmallInt integer for example deviceNum ul6 16 bit unsigned 0 to 65 535 Unsigned Not supported by Word integer short for BASIC
356. ruments Corporation 4 5 FlexMotion Software Reference Manual Chapter 4 Software Overview The eight ADC channels are multiplexed and automatically scanned to keep the converted ADC register values current For information about controlling the number of enabled ADCs and the corresponding scan rate refer to the Enable ADCs function Table 4 3 lists the resource IDs for ADCs Table 4 3 ADC Resource IDs Resource Name Resource ID ADC 1 0x51 ADC 2 0x52 ADC 3 0x53 ADC 4 0x54 ADC 5 0x55 ADC 6 0x56 ADC 7 0x57 ADC 8 0x58 ADC channels do not typically provide the same level of feedback performance as encoders but have the advantage of providing absolute rather than incremental feedback On 7344 controllers ADCs 5 through 8 are hard wired to specific sources and cannot be used as general purpose resources or as feedback devices See the Read ADC function for more information DAC Outputs DAC resources are typically mapped to servo axes and generate the analog control outputs from the PID loops DAC resources that are not used by axes are available for non axis specific applications You can directly control an unmapped DAC as a general purpose analog output 16 Bit 11101101100 D A Converter gt Figure 4 4 DAC Output Resources FlexMotion Software Reference Manual 4 6 www natinst com Chapter 4 Software Overview The DAC outputs offer 16
357. rupt on Move Complete event 0 Do not interrupt For D3 GPIO Event IO 1 Interrupt on general purpose I O event 0 Do not interrupt FlexMotion Software Reference Manual 13 16 www natinst com Chapter 13 Advanced Functions flex_set_irg_mask For D4 Breakpoint BP 1 Interrupt on breakpoint event 0 Do not interrupt For D5 High Speed Capture HSC 1 Interrupt on high speed capture event 0 Do not interrupt D6 through D8 are reserved For D9 Program Complete PC 1 Interrupt on Program Complete event 0 Do not interrupt For D10 Blend Complete BC 1 Interrupt on Blend Complete event 0 Do not interrupt For D11 Velocity Threshold VT 1 Interrupt on velocity threshold event 0 Do not interrupt D12 through D15 are reserved The factory default value for mask is zero 0 all interrupt events disabled Using This Function The Set Interrupt Event Mask function configures the event types that interrupt the host computer when interrupts are enabled on the controller Interrupts are an advanced method of synchronizing and communicating with the host computer but require an interrupt handler on the host to validate and process the interrupt Sy Note Interrupts are supported under only Windows NT 98 95 A typical FlexMotion application generates thousands of events Rather than constantly interrupting the host on every event this function allows you to mask off event types that are not rel
358. ry feedback resource encoder or ADC channel mapped to it prior to enabling the axis Refer to the Configure Axis Resources functions for more information on feedback resources You can operate an axis with a primary feedback resource in either open or closed loop mode and you can switch the mode at any time You can still read the position of the mapped feedback resource even when the axis is in open loop mode National Instruments Corporation 5 31 FlexMotion Software Reference Manual Trajectory Control Functions This chapter contains detailed descriptions of functions used to set up and control motion trajectories on the FlexMotion controller It includes functions to load double buffered trajectory parameters read back instantaneous velocity position and trajectory status as well as functions to configure blending gearing and other advanced trajectory features The functions are arranged alphabetically by function name Double buffered parameters for axes and vector spaces include acceleration deceleration velocity s curve operation mode target position and circular helical and spherical arc parameters You can send these parameters to the controller at any time but do not take effect until you execute the next Start Motion or Blend Motion function This double buffering allows you to set up moves ahead of time synchronizing them with a single Start Motion or Blend Motion call Other trajectory functions allow you to conf
359. s Parameter Discussion homePolarityMap is the bitmap of active polarities for the home inputs D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO 0 Home 6 Home 5 Home 4 Home 3 Home 2 Home 1 For D1 through D6 1 Inverting default 0 Noninverting Using This Function The Set Home Input Polarity function defines the active polarity for each home input as either inverting or noninverting Inverting polarity means that an active low input corresponds to a logical True or On state Conversely noninverting polarity means that an active high input corresponds to a logical True On state You can enable home inputs to cause halt stops when the input becomes active with the Enable Home Inputs function You can also use a home input as a general purpose input and read its status with the Read Home Input Status function National Instruments Corporation FlexMotion Software Reference Manual Chapter 8 Motion 1 0 Functions flex_set_home_polarity Example To set the polarity of the home inputs on axes 1 3 4 and 5 as inverting and the home inputs on axes 2 and 6 as noninverting call the Set Home Input Polarity function with homePolarityMap 0x003A which corresponds to the following bitmap D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO 0 0 0 0 0 0 0 0 0 Home 6 Home5 Home4 Home3 Home2 Home 1
360. s This subsection contains detailed descriptions of functions to organize annotate and save program objects to Flash ROM These advanced functions are primarily used for applications that require non volatile program storage You can run programs out of RAM without using any of these functions These functions are arranged alphabetically by function name As a quick reference a summary of the entire FlexMotion function API is in Appendix B FlexMotion Functions FlexMotion Software Reference Manual 12 24 www natinst com flex_load_description Chapter 12 Onboard Programming Functions flex_load_description Load Memory Object Description Format status flex_load_description boardID object description Purpose Loads a ASCII text description for a program or other memory object Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer object u8 program or other memory object description i8 ASCII character array describing the object Parameter Discussion object is a program or other memory object stored in onboard RAM or ROM description is an ASCII character array of up to 32 characters that describes the object Using This Function The Load Memory Object Description function loads a text description for a program or other memory object The ASCII text description is useful as a quick reminder of the contents or purpose of a program or ot
361. s flex_check_blend_complete_status flex_check_blend_complete_status Check Blend Complete Status Format status flex_check_blend_complete_status boardID axisOrVectorSpace axisOr VSMap blendComplete Purpose Checks the blend complete status for an axis vector space group of axes or group of vector spaces Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer axisOrVectorSpace u8 axis or vector space selector axisOrVSMap ul6 bitmap of axes or vector spaces to check Output Name Type Description blendComplete ul6 the blend complete status Parameter Discussion axisOrVectorSpace can select an axis 1 through 6 vector space 0x11 through 0x13 multiple axes 0 or multiple vector spaces 0x10 When simultaneously checking multiple axes 0 or vector spaces 0x10 the axisOrVSMap parameter indicates which axes or vector spaces to check axisOrVSMap is the bitmap of axes or vector spaces to check It is only required when multiple axes or vector spaces are selected with the axisOrVectorSpace parameter Otherwise this parameter is ignored When checking multiple axes axisOrVectorSpace 0 D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO 0 0 0 0 0 0 0 0 0 Axis Axis Axis Axis Axis Axis 0 6 5 4 3 2 1 FlexMotion Software Reference Manual 6 2 www natinst com Chapter 6 Tr
362. s 13 14 flex_save_defaults 13 15 flex_set_irq_mask 13 16 to 13 18 summary table B 7 advanced trajectory functions 6 72 to 6 102 flex_acquire_trajectory_data 6 73 to 6 74 flex_load_base_vel 6 75 flex_load_blend_fact 6 76 to 6 78 flex_load_pos_modulus 6 79 flex_load_rpm_thresh 6 80 to 6 81 flex_load_scurve_time 6 82 to 6 83 flex_load_torque_lim 6 84 to 6 86 flex_load_torque_offset 6 87 to 6 88 flex_load_vel_override 6 91 to 6 92 flex_load_vel_threshold 6 89 to 6 90 flex_read_dac 6 93 to 6 94 flex_read_dac_limit_status 6 95 to 6 96 National Instruments Corporation flex_read_dac_limit_status_rtn 6 95 to 6 96 flex_read_dac_rtn 6 93 to 6 94 flex_read_steps_gen 6 97 to 6 98 flex_read_steps_gen_rtn 6 97 to 6 98 flex_read_target_pos 6 99 to 6 100 flex_read_target_pos_rtn 6 99 to 6 100 flex_read_trajectory_data 6 101 to 6 102 flex_read_trajectory_data_rtn 6 101 to 6 102 summary table B 3 analog amp digital I O functions 10 1 to 10 31 default parameters table C 4 flex_configure_encoder_filter 10 2 to 10 3 flex_configure_pwm_output 10 4 to 10 6 flex_enable_adcs 10 7 to 10 8 flex_enable_encoders 10 9 to 10 10 flex_load_dac 10 11 flex_load_pwm_duty 10 12 flex_read_adc 10 13 to 10 14 flex_read_adc_rtn 10 13 to 10 14 flex_read_encoder 10 15 to 10 16 flex_read_encoder_rtn 10 15 to 10 16 flex_read_port 10 17 to 10 18 flex_read_port_rtn 10 17 to 10 18 flex_reset_encoder 10 19 flex_select_signa
363. s base Velocity input Vector Purpose Sets the base velocity used by the trajectory control circuitry for the axis specified Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer axis u8 axis to be controlled baseVelocity ul6 base velocity for the stepper axis in steps second inputVector u8 source of the data for this function Parameter Discussion baseVelocity is loaded in steps per second and is a 16 bit data word in the range of 0 through 65 535 The default value is 0 Using This Function Base velocity is the minimum step rate used by the trajectory generator during acceleration and deceleration Larger or smaller values can be used to optimize the low frequency performance of certain stepper motors If the target velocity loaded with the Load Velocity function is lower than the base velocity the base velocity is reduced to equal the loaded target velocity My Note This function is valid only on axes configured as steppers so you must configure an axis as a Stepper using the Configure Axis Resources function before executing this function National Instruments Corporation 6 75 FlexMotion Software Reference Manual Chapter 6 Trajectory Control Functions flex_load_blend_fact flex_load_blend_fact Load Blend Factor Format status flex_load_blend_fact boardID axisOrVectorSpace blendFactor input Vector Purpo
364. s functions to set polarity and enable limit and home inputs high speed capture inputs and inhibit outputs functions to configure and control breakpoint outputs and functions to read the status of all the motion I O signals high speed captured position and software limit status The functions are arranged alphabetically by function name All of the dedicated motion I O can also function as general purpose digital T O when it is not being used for its motion specific features You can set and reset outputs you can read inputs at any time and you can set and change their polarity as required This chapter has a main section covering limits and other basic Motion I O functions and two subsections one on Breakpoint Functions and the other on High Speed Capture Functions As a quick reference a summary of the entire FlexMotion function API is in Appendix B FlexMotion Functions National Instruments Corporation 8 1 FlexMotion Software Reference Manual Chapter 8 Motion 1 0 Functions flex_contigure_inhibits flex_configure_inhibits Configure Inhibit Outputs Format status flex_configure_inhibits boardID axisMap polarityMap Purpose Sets polarity and enables the per axis inhibit outputs Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer axisMap u8 bitmap of inhibit outputs to enable polarityMap u8 bitmap of active polarities for the inhibit outputs
365. s also implementing a superimposed move the superimposed move decelerates to a stop Executing the Stop Motion function on a slave axis stops the axis and automatically disables gearing for that axis Find Home and Find Index functions cannot be executed on slave axes with gearing enabled An error will be generated and the find sequence will not start National Instruments Corporation 6 69 FlexMotion Software Reference Manual Chapter 6 Trajectory Control Functions flex_load_gear_ratio flex_load_gear_ratio Load Gear Ratio Format status flex_load_gear_ratio boardID axis absoluteOrRelative ratioNumerator ratioDenominator input Vector Purpose Loads the gear ratio for master slave gearing Parameters Input Name Type Description boardID u8 assigned by configuration utility axis u8 slave axis to be controlled absoluteOrRelative ul6 selects absolute or relative gearing between master and slave ratioNumerator il6 gear ratio numerator of the slave relative to the master ratioDenominator ul6 gear ratio denominator of the slave relative to the master inputVector u8 source of the data for this function Parameter Discussion axis is the slave axis to be controlled absoluteOrRelative selects absolute 0 or relative 1 gearing between the master and slave ratioNumerator is gear ratio numerator of the slave relative to the master The numerator is a signed value between 32 76
366. s always returned to the host and no inputVector is required All FlexMotion read functions have two calling conventions with and without the _rtn suffix Without the _rtn suffix the read function buffers the data in the Return Data Buffer You then use Communicate in NIMC_READ_RDB mode to read one or more packets from this buffer Refer to your motion controller user manual for more information on low level communications protocols and return data packets Software Reference Manual 13 6 www natinst com flex_enable_1394 watchdog Chapter 13 Advanced Functions flex_enable_1394_watchdog Enable 1394 Watchdog Format status flex_enable_1394_watchdog boardID enableOrDisable Purpose Enables or disables the watchdog timer on the 1394 motherboard Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer enableOrDisable u8 enable or disable the watchdog timer Parameter Discussion enableOrDisable enables or disables the watchdog timer on the 1394 motherboard Set this to NIMC_TRUE 1 to enable the watchdog timer and NIMC_FALSE 0 to disable the watchdog timer Using This Function The Enable 1394 Watchdog function enables the communications watchdog timer on the FW 7344 If the FW 7344 is in an environment with severe electrostatic discharge ESD conditions these ESD events can disrupt the host to controller communication When the watchdog timer
367. s motion programs in a preemptive real time multitasking environment This extremely powerful feature is designed for real time applications that need tight synchronization and or minimum latency from a motion or other T O event and fast command execution You can execute the entire FlexMotion function set from onboard programs In addition programs support basic math and data operation functions on general purpose variables Onboard programs also offer event based functions such as Jump to Label on Condition and Wait on Condition which allow you to sequence and make decisions in your programs Programs can even start and stop other programs Implementing part or all of your motion application as an onboard program or programs offloads the host computer from handling these real time events Onboard programs can also isolate your application from the host computer non real time operating system Only bus power is required to correctly execute an onboard program once it is started Programs can be run from RAM or optionally saved to non volatile Flash ROM Saved programs are therefore available for execution at any future time even after power cycles This chapter has a main section and two subsections one on object management and the other on data operations The main section covers functions to begin and end program storage and to control program execution The Object Management Functions section covers functions to organize annotate and
368. s still moving move not complete call the Jump to Label on Condition function with the following parameters condition NIMC_CONDITION_MOVE_COMPLETE 13 mustOn 0x08 which corresponds to the following bitmap D7 D6 D5 D4 D3 D2 DI DO mustOn 7 mustOn 6 mustOn 5 mustOn 4 mustOn 3 mustOn 2 mustOn 1 mustOn 0 0 0 0 0 1 0 0 0 National Instruments Corporation 12 9 FlexMotion Software Reference Manual Chapter 12 Onboard Programming Functions flex_jump_label_on_condition mustOff 0x20 which corresponds to the following bitmap D7 D6 D5 D4 D3 D2 D1 DO mustOff 7 mustOff 6 mustOff 5 mustOff 4 mustOff 3 mustOff 2 mustOff 1 mustOff 0 0 0 1 0 0 0 0 0 matchType NIMC_MATCH_ANY 1 labelNumber 99 In this example the move complete status of axes 1 2 4 and 6 are don t care and the matchType is set to match either axis 3 move complete On or axis 5 move not complete Off FlexMotion Software Reference Manual 12 10 www natinst com flex_load_delay Chapter 12 Onboard Programming Functions flex_load_delay Load Program Delay Format status flex_load_delay boardID delayTime Purpose Loads a delay into a program sequence Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer delayTime u32 delay time in milliseconds Parameter Discussion delayTime is the desi
369. s that the move complete status must stay true This parameter allows you to enforce a minimum pulse width on the move complete status even if the axis is started again The range is 0 default to 255 ms Using This Function The Configure Move Complete Criteria function defines the conditions for reporting a move complete When a move is complete on an axis the corresponding bit in the Move Complete Status MCS register is set For information about reading the MCS register refer to the Read Move Complete Status function This function allows a great deal of control over when and how a move is considered complete The Criteria bitmap contains five bits to set the conditions used to determine the Move Complete status The first two Profile Complete and Motor Off are logically OR d to provide the basis for Move Complete The Profile Complete bit is always set and cannot be disabled When the axis trajectory generator completes its profile this condition is satisfied National Instruments Corporation 5 7 FlexMotion Software Reference Manual Chapter 5 Axis amp Resource Configuration Functions flex_config_mc_criteria If the Motor Off bit is set any condition that causes the axis to turn its motor off a kill or following error trip will satisfy this basic requirement for Move Complete In other words either Profile Complete OR Motor Off must be True for Move Complete to be True The next three criteria Run Stop Delay and In Pos
370. save program objects to ROM The Data Operations Functions section covers math functions on general purpose variables As a quick reference a summary of the entire FlexMotion function API is in Appendix B FlexMotion Functions National Instruments Corporation 12 1 FlexMotion Software Reference Manual Chapter 12 Onboard Programming Functions flex_begin_store flex_begin_store Begin Program Storage Format status flex_begin_store boardID program Purpose Begins a program storage session Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer program u8 program number Parameter Discussion program is the program number Valid program numbers are 0x01 through OxFF 1 through 255 Using This Function The Begin Program Storage function initiates program storage in RAM Once begun all subsequent functions are stored in an object buffer and not executed until the program is run with the Run Program function This memory storage continues until you execute the End Program Storage function You can store only one program at a time The size and number of programs is completely flexible It is ultimately limited by the 32 total memory objects in the Object Registry or by total available memory whichever is reached first The FlexMotion 6C controller has 32 KB of RAM plus 32 KB of ROM for program and object storage You can run programs from either RA
371. se Loads the blend factor for an axis or vector space Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer axisOrVectorSpace u8 axis or vector space to be controlled blendFactor il6 the mode and or dwell used during blending inputVector u8 source of the data for this function Parameter Discussion axisOrVectorSpace is the axis or vector space to be controlled blendFactor is the blend factor mode and or dwell time 1 specifies normal blending default 0 specifies a start after the previous move is fully stopped and values gt 0 specify additional dwell time in milliseconds inputVector indicates the source of the data for this function Available inputVectors include immediate OxFF or variable 0x01 through 0x78 Using This Function The Load Blend Factor function controls how the Blend Motion function operates Blending automatically starts a pending move on an axis or vector space when the move in process completes Exactly when the pending move starts is determined by the loaded blend factor FlexMotion Software Reference Manual 6 76 www natinst com Chapter 6 Trajectory Control Functions flex_load_blend_fact A blend factor of 1 causes the pending move to start when the existing move finishes its constant velocity segment and starts to decelerate as shown in Figure 6 4 This blends the two moves together at the optimum blend point Velocity
372. ses 2 3 Chapter 3 Programming Language Considerations Variable Data Types accscc hee e R ede A a eS 3 1 Primary Types esse ea n E teeter E R A E E RA 3 2 ATTAYS EEE EE EE AAE teeta et as TE E 3 2 Structures and Other User Defined Data Types esesseeeseseesessrressererrereerrrseen 3 3 Function Return Status cece ceeceseeseceeeeesceeeeeeeeseeseecseesaecsecsaesseeeseeeseeeseeseeeeeesenes 3 3 Board Identification Parameter ao eee eseeeceseeesecseessecseeneceeceseeseceseeeeeeeseeseaeeneseaes 3 4 Language Specific Considerations ccceceecsecssessesecseeesesesseesescscessesssesesseessesesaeees 3 4 CSE TOL WIN OWS vos ces ree oeer ia a mea ea ea aa cache tinev dor E eE aE SE 3 4 Data Returned by Reference 00 0 0 eee ce ceeeeeceeeeeeceeeeeeecneesnecseesaees 3 4 Data Retired is Array S ennei E a 3 5 FlexMotion Data Structures oo eee cece ceecseeseceseeeeceeeeeeseeeeeeeenes 3 5 Visual Basic for Windows eare re eae teree areen hesent eene Aoo ee aE E o REEE NEAN NENE 3 6 u8 Data Type Not Supported sesssseeesseeesesissessrsrrrrsreersrrererenresessene 3 6 Data Returned by Reference 0 0 cece ceseeeecereeeeeeseeeeecneesaeseaesaees 3 7 National Instruments Corporation v FlexMotion Software Reference Manual Contents Data Returned in Array 0 0 0 cee eceeeeecseeeeeceeaecaecaecnecnseeeensenerees 3 7 User Defined Data Types 000 0 cece ceceeceeceeeseeeeseeeeeeseesaeceesaeenaes 3 8 Considerations when Using Rea
373. signed by Measurement amp Automation Explorer Input Output Name Type Description sizeOfArray u32 size of character array Output Name Type Description charArray i8 character array Parameter Discussion sizeOfArray is the number of characters in the controller name plus one for the NULL string terminator As an input this I O parameter specifies the size of the allocated array If sizeOfArray is insufficient a NIMC_insufficientSizeError is returned as the status of the function and the required character array size including space for the NULL terminator is returned in the sizeOfArray parameter If sizeOfArray is sufficient a NIMC_noError is returned as the status of the function the name is copied into the character array and the number of bytes copied plus one for the NULL terminator is returned in the sizeOfArray parameter charArray is an array of ASCII characters containing the name of the controller The FlexMotion software places the name of the controller referenced by boardID in the character array if there is sufficient space You must allocate space for this array before calling this function National Instruments Corporation 11 9 FlexMotion Software Reference Manual Chapter 11 Error amp Utility Functions flex_get_motion_board_name Using This Function The Get Motion Board Name function returns the name of the controller as an ASCII character array You must allocate space for this array on the
374. sired home signal transition is detected the find home sequence continues based on the other control bits If the forward limit switch is encountered before the home switch the axis automatically reverses direction and continues searching for the home switch If the reverse limit is encountered before the home switch the sequence stops and the Home Found status is False If a home switch exists finding it is guaranteed A similar search sequence is followed when the initial search direction is reverse AN Warning Forward is defined as the direction of increasing position The Forward and Reverse Limits must be located at the proper ends of travel for the Find Home sequence to function properly You can configure the find home sequence to detect either the rising or falling edge of the home signal as shown in Figure 9 1 You can also set the polarity of the limit and home inputs with the Set Limit Input Polarity and Set Home Input Polarity functions respectively Once the home switch is found motion proceeds to approach the home edge from the desired direction If necessary the axis travels past the home edge and reverses direction to approach it from the programmed direction This portion of the sequence is executed at a fixed low speed approximately 1 4 RPS to smoothly approach the edge This approach direction feature is used to minimize the effects of motion system windup backlash and or home sensor hysteresis National Instruments C
375. sociated with variables in sequential order A few advanced functions handle variables differently from the previous description Refer to Appendix D Onboard Variables Input and Return Vectors for more information on variables and vectors B Note You can save the entire set of onboard general purpose variables to Flash ROM with the Save Default Parameters function Initialization O verview The FlexMotion controller has a factory default configuration that applies to a number of typical motion control applications However because the range of possible applications for FlexMotion is endless you will probably have to initialize your controller with settings appropriate to your application before executing axis motion Appendix C Default Parameters gives a complete list of the factory default values A large number of motion parameters need to be set only once during initialization These parameters deal with the physical setup of the application and are unlikely to change during the application However you can change all FlexMotion parameters on the fly as necessary to tailor the motion control Once these setup and initialization parameters are chosen you can save them as customized power up defaults with the Save Default Parameters function FlexMotion Software Reference Manual 4 12 www natinst com Chapter 4 Software Overview Recommended Initialization Procedure This section presents a recommended list of functions
376. source of the data for this function Available input Vectors include immediate OxFF or variable 0x01 through 0x78 National Instruments Corporation 5 19 FlexMotion Software Reference Manual Chapter 5 Axis amp Resource Configuration Functions flex_load_pid_parameters Using This Function The Load All PID Parameters function allows you to set all eight PID parameters at the same time for a given axis You can call this function at any time However it is typically used during initialization to configure and tune an axis FlexMotion also offers a Load Single PID Parameter function which you can use to change an individual value on the fly without having to worry about the other unchanged values Refer to Chapter 4 Functional Overview of your motion controller user manual for an overview of the PID control loop on the FlexMotion controller and to the Load Single PID Parameter function for descriptions on the individual PID parameters and their ranges FlexMotion Software Reference Manual 5 20 www natinst com flex_load_single_pid_parameter Chapter 5 Axis amp Resource Configuration Functions flex_load_single_pid_parameter Load Single PID Parameter Format status flex_load_single_pid_parameter boardID axis parameterType PIDValue inputVector Purpose Loads a single PID control loop parameter for an axis Parameters Input Name Type Description boardID u8 assigned by Measurement amp Aut
377. source of the data for this function Available input Vectors include immediate OxFF or variable 0x01 through 0x78 FlexMotion Software Reference Manual 6 16 www natinst com Chapter 6 Trajectory Control Functions flex_load_velocity Using This Function The Load Velocity function specifies the maximum trajectory velocity for individual axes or vector spaces When executed on a vector space the value controls the vector velocity along the vector move path For velocity control applications the sign of the loaded velocity specifies the move direction Velocity is a double buffered parameter so you can load it on the fly without affecting the move in process and it will take effect on the next Start Motion or Blend Motion function Once loaded this parameters remains in effect for all subsequent motion profiles until re loaded by this function You do not need to load velocity before each move unless you want to change it Sy Note The velocity loaded with this function is the maximum move velocity Actual velocity attainable is determined by many factors including PID tuning length of move acceleration and deceleration values and physical constraints of the amplifier motor mechanical system National Instruments Corporation 6 17 FlexMotion Software Reference Manual Chapter 6 Trajectory Control Functions flex_load_vs_pos flex_load_vs_pos Load Vector Space Position Format status flex_load_vs_pos boardID vector
378. ssion DAC is the DAC to be controlled outputValue is the value sent to the DAC The parameter range is 32 768 to 32 767 corresponding to the full 10 V output range Ss Note DAC torque limits and offsets do not apply when directly loading a DAC inputVector indicates the source of the data for this function Available inputVectors include immediate OxFF or variable 0x01 through 0x78 Using This Function The Load DAC function is used to send a value directly to an unmapped DAC resource DACs not mapped as servo axis outputs are available for general purpose analog out applications UN Caution You should not execute this function on a DAC mapped to an axis Doing so will cause the DAC output to glitch momentarily before returning to axis control National Instruments Corporation 10 11 FlexMotion Software Reference Manual Chapter 10 Analog amp Digital I O Functions flex_load_pwm_duty flex_load_pwm_duty Load PWM Duty Cycle Format status flex_load_pwm_duty boardID PWMOutput dutyCycle inputVector Purpose Sets the duty cycle fora PWM output Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer PWMOutput u8 PWM Output dutyCycle ul6 duty cycle for PWM Output inputVector u8 source of the data for this function Parameter Discussion PWMOutput selects the PWM Output to control 1 or 2 dutyCycle is a value between 0 and 255
379. st computer before calling this function You can use this function to generate a string for displaying a function name a resource name an error code description or a complete error description string in response to an error code returned as a function status or the result of calling the Read Error Message function National Instruments Corporation 11 3 FlexMotion Software Reference Manual Chapter 11 Error amp Utility Functions flex_get_error_description Not all input parameters are required for each description type The following parameters are required to return an accurate description string descriptionType errorCode commandID resourceID NIMC_ERROR_ONLY required not required not required NIMC_FUNCTION_NAME_ONLY not required required not required NIMC_RESOURCE_NAME_ONLY not required required required NIMC_COMBINED_DESCRIPTION required required required Because resource IDs are not unique for example axis 1 and program both are resource 1 the command ID is required to set the context and allow this function to generate the proper resource name string If NULL or 0 is passed in either the charArray or sizeOfArray parameters the required size of the array not including the NULL terminator is returned in the sizeOfArray parameter You can use this feature when you want to allocate only the memory necessary to hold the description string This function is then called twice once to get the
380. status bit National Instruments Corporation 8 35 FlexMotion Software Reference Manual Chapter 8 Motion 1 0 Functions flex_read_cap_pos and flex_read_cap_pos_rin flex_read_cap_pos and flex_read_cap_pos_rtn Read Captured Position Format status flex_read_cap_pos boardID axisOrEncoder returnVector status flex_read_cap_pos_rtn boardID axisOrEncoder capturedPosition Purpose Reads a captured position value from an axis or encoder Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer axisOrEncoder u8 axis or encoder to be read returnVector u8 destination for the return data Output Name Type Description capturedPosition 132 position value captured Parameter Discussion axisOrEncoder is the axis or encoder to be read 3 Note High speed capture inputs are only available on encoders 1 through 4 resources 0x21 through 0x24 returnVector indicates the desired destination for the return data generated by this function Available return Vectors include return data to the host OxFF return data to a variable 0x01 through 0x78 and don t return data 0 nye Note The suffix _rtn on the function indicates that the data should be returned to the host When this calling convention is used no returnVector is required FlexMotion Software Reference Manual 8 36 www natinst com Chapter 8 Motion 1 0 Functions flex_read_cap_pos
381. t status flex_read_steps_gen boardID axisOrStepperOutput returnVector status flex_read_steps_gen_rtn boardID axisOrStepperOutput steps Purpose Reads the number of steps generated by a stepper output Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer axisOrStepperOutput u8 axis or stepper output to read returnVector u8 destination for the return data Output Name Type Description steps 132 number of steps generated Parameter Discussion axisOrStepperOutput is the axis or stepper output to read returnVector indicates the desired destination for the return data generated by this function Available return Vectors include return data to the host OxFF return data to a variable 0x01 through 0x78 and don t return data 0 ay Note The suffix _rtn on the function indicates that the data should be returned to the host When this calling convention is used no returnVector is required steps is the number of steps generated since the stepper axis last had its position reset National Instruments Corporation 6 97 FlexMotion Software Reference Manual Chapter 6 Trajectory Control Functions flex_read_steps_gen and flex_read_steps_gen_rtn Using This Function The Read Steps Generated function returns the number of steps generated by a stepper axis or stepper output resource For open loop stepper axes this function returns exact
382. t 6 76 to 6 78 flex_read_blend_status 6 24 to 6 26 flex_read_blend_status_rtn 6 24 to 6 26 FlexMotion Software Reference Manual l 2 flex_wait_for_blend_complete 6 49 to 6 51 board ID in host FlexMotion board communication 4 20 board identification parameter 3 4 Borland C C application creating 2 2 to 2 3 See also C C applications breakpoint functions 8 21 to 8 32 flex_enable_bp 8 22 to 8 24 flex_load_bp_modulus 8 25 to 8 26 flex_load_pos_bp 8 27 to 8 28 flex_read_breakpoint_status 8 29 to 8 30 flex_read_breakpoint_status_rtn 8 29 to 8 30 flex_set_bp_momo 8 31 to 8 32 summary table B 4 Bridge VIEW software 1 2 building applications See FlexMotion windows libraries programming language considerations C capture functions See high speed capture functions C C applications creating 32 bit Windows applications 2 2 to 2 3 programming considerations 3 4 to 3 6 data returned by reference 3 4 to 3 5 data returned in arrays 3 5 FlexMotion data structures 3 5 to 3 6 communication with host computer 4 20 to 4 22 board ID 4 20 packets handshaking and FIFO buffers 4 21 return data buffer 4 21 to 4 22 www natinst com configuration functions advanced functions flex_set_irq_mask 13 16 to 13 18 analog amp digital I O functions flex_configure_encoder_filter 10 2 to 10 3 flex_configure_pwm_output 10 4 to 10 6 flex_set_adc_range 10 23 to 10 24 flex_set_port_direction 10 25 to
383. t affect the FlexMotion ability to accurately control velocity and position at low speeds This function also configures the Run Stop status which is used for move complete determination This Run Stop status uses the filtered velocity to minimize noise in this status The Run Stop threshold is programmable to account for a wide range of feedback device resolution and update sample periods and to allow the application to determine when an axis is going slow enough to be considered stopped Refer to the Read Trajectory Status and Configure Move Complete Criteria functions for more information on the Run Stop status The Configure Velocity Filter function is a status configuration function that is typically called for each axis prior to using the axis for motion control Once the parameters are set they remain in effect until changed You can call this function at any time to tailor the status reporting functions as the application requires National Instruments Corporation 5 29 FlexMotion Software Reference Manual Chapter 5 Axis amp Resource Configuration Functions flex_set_stepper_loop_mode flex_set_stepper_loop_mode Set Stepper Loop Mode Format status flex_set_stepper_loop_mode boardID axis loopMode Purpose Sets a stepper axis to operate in either open or closed loop mode Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer axis u8 axis to be controlled
384. t_status_rtn boardID positiveStatus negativeStatus Purpose Reads the status of the DAC limits Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer returnVector u8 destination for the return data Output Name Type Description positiveStatus u8 bitmap of positive DAC limit status negativeStatus u8 bitmap of negative DAC limit status Parameter Discussion returnVector indicates the desired destination for the return data generated by this function Available returnVectors include return data to the host OxFF return data to a variable 0x01 through 0x78 and don t return data 0 Sy Note The suffix _rtn on the function indicates that the data should be returned to the host When this calling convention is used no returnVector is required positiveStatus is a bitmap of the positive DAC torque limit status D7 D6 DS D4 D3 D2 DI DO XXX DAC 6 DAC 5 DAC 4 DAC 3 DAC 2 DAC 1 XXX National Instruments Corporation 6 95 FlexMotion Software Reference Manual Chapter 6 D7 Trajectory Control Functions flex_read_dac_limit_status and flex_read_dac_limit_status_rtn For D1 through D6 1 DAC output at positive limit 0 DAC output below positive limit negativeStatus is a bitmap of the negative DAC torque limit status D6 DS D4 D3 D2 D1 DO XXX DAC 6
385. tatus bit 14 low A subsequent poll of the MCS register returns motionCompleteStatus 0xC07E which corresponds to the following bitmap D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 DI DO Sts15 Sts14 Sts 13 XXX XXX XXX XXX XXX XXX MC6 MC5 MC 4 MC 3 MC 2 MC I XXX 1 0 1 0 0 0 0 0 0 1 1 1 1 1 1 0 National Instruments Corporation 12 17 FlexMotion Software Reference Manual Chapter 12 Onboard Programming Functions flex_stop_prog flex_stop_prog Stop Program Format status flex_stop_prog boardID program Purpose Stops a running program Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer program u8 program number Parameter Discussion program is the program number Valid program numbers are 0x01 through OxFF 1 through 255 Using This Function The Stop Program function terminates execution of a running program You cannot resume a stopped program but you can re run the program from the beginning A program can stop another program but you cannot have a program stop itself Attempting to store a recursive Stop Program function in a program generates an error and does not store the function 3 Note Stopping a program does not affect a move already started and in progress It does not implement a Stop Motion function FlexMotion Software Reference Manual 12 18 www natinst com Chapter 12 Onboard Programming Functions flex_wait_on_
386. tead B Note Attempting to reset an encoder that is mapped to an axis generates an error Encoder position can be reset at any time However it is recommended that you reset position only while the encoder is stopped A encoder reset while it is moving will not have a repeatable reference position B Note Non zero reset values are useful for defining a position reference offset National Instruments Corporation 10 19 FlexMotion Software Reference Manual Chapter 10 Analog amp Digital I O Functions flex_select_signal flex_select_signal Select Signal Format status flex_select_signal boardID destination source Purpose Specifies the source and destination for various motion signals including trigger inputs high speed capture circuits breakpoint outputs RTSI lines and RTSI software ports This function is only supported by 7344 motion controllers Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer destination ul6 destination of signal source ul6 source of signal Parameter Discussion destination is the destination of the signal coming from source source is the source of the signal to be routed to destination For a destination value of NIMC_HS_CAPTURE 1 4 Value 8 11 the valid source values are as follows source Value Comments NIMC_RTSI 0 6 0 6 RTSI lines 0 through 6 NIMC_PXI_STAR_TRIGGER 7 PXI star trigger
387. tepper driver You can enable the inhibit outputs and set their polarity as active high noninverting or active low inverting with the Configure Inhibit Outputs function All the axes encoders and ADCs are disabled The DSP is disabled which shuts down all control loop generation All the digital IO is re initialized to defaults If the user has saved defaults using the Save Default Parameters function the digital IO is re initialized to the user defaults else it is re initialized to the factory defaults All onboard programs that are executing are stopped The controller does not accept any functions except for the following ones Get Motion Board Information Read Error Message Enable Auto Start National Instruments Corporation 13 9 FlexMotion Software Reference Manual Chapter 13 Advanced Functions flex_enable_shutdown The shutdown functionality is disabled by default This functionality has to be enabled every time the controller is powered up You should enable this feature only after the shutdown circuit has been properly configured and connected to the controller Once shutdown has been enabled it can be disabled only by resetting or power cycling the controller 3 Note Once the controller has shut down it has to be reset or power cycled before it can be used again FlexMotion Software Reference Manual 13 10 www natinst com flex_flush_rdb Chapter 13 Advanced Functions flex_flush_rdb F
388. ter 6 Trajectory Control Functions flex_reset_pos Reset Position Format status flex_reset_pos boardID axis position1 position2 input Vector Purpose Resets an axis position to a desired value Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer axis u8 axis to be controlled position1 132 reset value for axis and primary feedback resource position2 132 reset value for secondary feedback resource inputVector u8 source of the data for this function Parameter Discussion axis is the axis to be controlled position1 is the reset value for the axis and it associated primary feedback resource You can reset position to any value in the total position range of 23 to 23 1 position2 is the reset value for the optional secondary feedback resource You can reset position to any value in the total position range of 23 to 23 1 3 Note For stepper closed loop configurations where the encoder counts per revolution is greater than the steps per revolution the range of the position parameters is reduced to 23 counts or steps to 23 1 counts or steps inputVector indicates the source of the data for this function Available input Vectors include immediate OXFF or variable 0x01 through 0x78 National Instruments Corporation 6 43 FlexMotion Software Reference Manual Chapter 6 Trajectory Control Functions f
389. ter is ignored FlexMotion Software Reference Manual 6 52 www natinst com Chapter 6 Trajectory Control Functions flex_wait_for_move_complete When waiting for multiple axes axisOr VectorSpace 0 D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO 0 0 0 0 0 0 0 0 0 Axis Axis Axis Axis Axis Axis 0 6 5 4 3 2 1 For D1 through D6 1 Move must be complete on specified axis 0 Move can be either complete or not complete on specified axis don t care When waiting for multiple vector spaces axisOrVectorSpace 0x10 DIS D14 D13 DIZ D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 DI DO For D1 through D3 1 Move must be complete on specified vector space 0 Move can be either complete or not complete on specified vector space don t care To wait for move complete on a single axis or vector space set the axisOrVectorSpace selector to the desired axis or vector space The axisOr VSMap parameter is ignored To wait for move complete on multiple axes the axisOrVectorSpace selector is set to 0 zero and the axisOr VSMap bitmap defines the axes to wait for They must all be move complete for the moveComplete output to be true Similarly to wait for move complete on multiple vector spaces the axisOrVectorSpace selector is set to 0x10 and the axisOr VSMap bitmap defines the vector spaces to wait for timeout is the amount of time in milliseconds to wait for the move to
390. th an offset or null value of 1 25 V This is because even when the PID loop is commanding full negative torque the torque offset is added and the resulting output is 8 75 V In the positive direction the DAC cannot go above 10 V no matter what the offset is The function call leaves the secondary DAC offset at its default value of zero 0 This example assumes the full torque range is available and not limited by the Load Torque Limit function ays Note The offset value must be within the range limits set by the Load Torque Limit function FlexMotion Software Reference Manual 6 88 www natinst com Chapter 6 Trajectory Control Functions flex_load_vel_threshold flex_load_vel_ threshold Load Velocity Threshold Format status flex_load_vel_threshold boardID axis threshold inputVector Purpose Loads a velocity threshold for an axis Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer axis u8 axis to be controlled threshold u32 velocity threshold in counts s or steps s inputVector u8 source of the data for this function Parameter Discussion axis is the axis to be controlled threshold is the velocity threshold in counts s servo axes or steps s stepper axes For servo axes the threshold range is 1 to 16 000 000 counts s For stepper axes it is 1 to 1 500 000 steps s The factory default value for threshold is the maximum so the feature
391. that specifies the amount of time the PWM output is high inputVector indicates the source of the data for this function Available inputVectors include immediate OxFF and variable 0x01 through 0x78 Using This Function FlexMotion The dutyCycle determines the amount of time the PWM output is high A dutyCycle of 0 corresponds to a 0 V output and a dutyCycle of 255 corresponds to a pulse train that is high for 255 256 99 6 of the time Use the Configure PWM Output function to set the frequency of the PWM output signal You can set the duty cycle before or after configuring a PWM output By default the dutyCycle is 0 so if you call the Configure PWM Output function to configure a PWM output the output will be low until you set the dutyCycle differently If you set the dutyCycle first the PWM output will reflect this dutyCycle immediately after calling the Configure PWM Output function Software Reference Manual 10 12 www natinst com flex_read_adc and flex_read_adc_rtn Chapter 10 Analog amp Digital I O Functions flex_read_adc and flex_read_adc_rtn Read ADC Format status flex_read_adc boardID ADC returnVector status flex_read_adc_rtn boardID ADC ADC Value Purpose Reads the converted value from an ADC input channel Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer ADC u8 ADC channel to be read returnVector u8 destin
392. the FlexMotion software and within the firmware that resides on the FlexMotion controller itself In a perfect system errors should not be generated However during application development and debugging errors are unfortunately quite common FlexMotion offers an extensive error handling structure and utility functions to allow you to quickly get to the bottom of any error generating situation Refer to Chapter 11 Error amp Utility Functions and Appendix A Error Codes for additional error handling information Modal and Non Modal Errors FlexMotion can detect two types of errors modal and non modal Non modal errors are errors detected at the time of function execution This includes packet errors communication failures bad Board ID error data and resource range errors and so on Each FlexMotion function returns a status that indicates whether the function executed successfully A non zero return status indicates that the function failed to execute and the status value returned is the non modal error code FlexMotion Software Reference Manual 4 22 www natinst com Chapter 4 Software Overview Modal errors on the other hand are errors that are not detected at the time of function execution Because functions can be buffered in the onboard FIFO it is not possible to detect all potential errors at the time of function execution Furthermore some functions can be legal at one time and illegal at another depending on the state
393. the amplifier driver is disabled with the inhibit output You can also use inhibit outputs as general purpose outputs Disabled inhibit outputs ignore the state of their corresponding axis and can be directly controlled through the Set Inhibit MOMO function You can configure the active polarity of each inhibit output as inverting or noninverting Inverting polarity means that a logical True or On state corresponds to an active low output Conversely noninverting polarity means that a logical True On corresponds to an active high output The inhibit polarity is always in effect whether the inhibit is linked to its axis enabled or directly controlled thought the Set Inhibit MOMO function Example To configure inhibit outputs and 2 as axis inhibits with inverting polarity and the rest of the inhibit outputs as general purpose outputs with noninverting polarity call the Configure Inhibit Outputs function with the following parameters axisMap 0x06 which corresponds to the following bitmap D7 D6 D5 D4 D3 D2 DI DO 0 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 0 0 0 0 0 0 1 1 0 polarityMap 0x06 which corresponds to the following bitmap D7 D6 DS D4 D3 D2 D1 DO 0 Inhibit 6 Inhibit 5 Inhibit 4 Inhibit 3 Inhibit 2 Inhibit 1 0 0 0 0 0 0 1 1 0 National Instruments Corporation 8 3 FlexMotion Software Reference Manual Chapter 8 Motion 1 0 Functions flex_enable
394. the modulus value All moves are resolved to one modulus range FlexMotion Software Reference Manual 6 48 www natinst com Chapter 6 Trajectory Control Functions flex_wait_for_blend_complete flex_wait_for_blend_complete Wait for Blend Complete Format status flex_wait_for_blend_complete_status boardID axisOrVectorSpace axisOrVSMap u32 timeout i32 pollInterval blendComplete Purpose Waits up to the specified period of time for a blend to be completed on an axis vector space group of axes or group of vector spaces Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer axisOrVectorSpace u8 axis or vector space selector axisOr VSMap ul6 bitmap of axes or vector spaces to check timeout u32 timeout in milliseconds pollInterval 132 polling interval in milliseconds Output Name Type Description blendComplete ul6 the blend complete status Parameter Discussion axisOrVectorSpace can select an axis 1 through 6 vector space 0x11 through 0x13 multiple axes 0 or multiple vector spaces 0x10 When simultaneously waiting for a blend to complete on multiple axes or vector spaces the axisOrVSMap parameter indicates which axes or vector spaces to wait for axisOr VSMap is the bitmap of axes or vector spaces to wait for It is only required when multiple axes or vector spaces are selected with the axisOrVectorSpace parameter
395. the target position any event that causes or starts some form of data capture A digital signal that begins the execution of a sequence of motion commands stored on the controller indexer allowing the commands to fully execute until the end of the sequence is reached transistor transistor logic FlexMotion Software Reference Manual UOM V y velocity mode W watchdog word Z bit Glossary unit of measure volts move the axis continuously at the specified velocity a timer task that shuts down resets the motion controller if any serious error occurs The standard number of bits that a processor or memory manipulates at one time Microprocessors typically use 8 16 or 32 bit words marker or index between consecutive encoder revolutions National Instruments Corporation G 11 FlexMotion Software Reference Manual Index A acceleration feedforward gain changing 5 26 acceleration in RPS s 4 19 ADC channels purpose and use 4 5 to 4 6 resource IDs table 4 6 ADC functions flex_enable_adcs 10 7 to 10 8 flex_read_adc function 10 13 to 10 14 flex_read_adc_rtn function 10 13 to 10 14 flex_set_adc_range 10 23 to 10 24 advanced functions 13 1 to 13 18 flex_clear_pu_status 13 2 to 13 3 flex_communicate 13 4 to 13 6 flex_enable_1394_watchdog 13 7 flex_enable_auto_start 13 8 flex_enable_shutdown 13 9 to 13 10 flex_flush_rdb 13 11 flex_read_csr_rtn 13 12 to 13 13 flex_reset_default
396. this function at anytime to monitor the home inputs whether they are enabled or not A home input enabled with the Enable Home Inputs function causes a halt stop on an axis when its home input becomes active True You can also use a home input as a general purpose input and read its status with this function 3 Note This function reads the logical state On or Off True or False of the home inputs The polarity of the home inputs determines whether an On state is active high or active low Refer to the Set Home Input Polarity function for more information FlexMotion Software Reference Manual 8 12 www natinst com Chapter 8 flex_read_limit_status and flex_read_limit_status_rtn Motion 1 0 Functions flex_read_limit_status and flex_read_limit_status_rtn Read Limit Status Format status flex_read_limit_status boardID limitType return Vector status flex_read_limit_status_rtn boardID limitType forwardLimitStatus reverseLimitStatus Purpose Reads the instantaneous state of either the hardware limit inputs or the software limits Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer limitType ul6 hardware software limit selector returnVector u8 destination for the return data Output Name Type Description forwardLimitStatus u8 bitmap of forward limit status reverseLimitStatus u8 bitmap of reverse limit status Param
397. tion 1 0 Functions flex_enable_home_inputs B Note An active and enabled home input transition on an axis that is part of a vector space move causes that axis to halt stop and the other axes in the vector space to decelerate to a stop Example To enable the home inputs for axes 2 and 4 call the Enable Home Inputs function with homeMap 0x0014 which corresponds to the following bitmap D15 D14 D13 D12 Dil D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO 0 0 0 0 0 0 0 0 0 Home6 HomeS Home4 Home3 Home2 Home 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 National Instruments Corporation 8 5 FlexMotion Software Reference Manual Chapter 8 flex_enable_ limits Motion 1 0 Functions flex_enable_limits Enable Limits Format status flex_enable_limits boardID limitType forwardLimitMap reverseLimitMap Purpose Enables disables either the forward and reverse limit inputs or the forward and reverse software position limits Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer limitType ul6 hardware software limit selector forwardLimitMap u8 bitmap of forward limits to enable reverseLimitMap u8 bitmap of reverse limits to enable Parameter Discussion limitType selects the type of limit to enable either the hardware limit switch inputs or the software position limits limitTyp
398. tions due to defects in materials and workmanship for a period of 90 days from date of shipment as evidenced by receipts or other documentation National Instruments will at its option repair or replace software media that do not execute programming instructions if National Instruments receives notice of such defects during the warranty period National Instruments does not warrant that the operation of the software shall be uninterrupted or error free A Return Material Authorization RMA number must be obtained from the factory and clearly marked on the outside of the package before any equipment will be accepted for warranty work National Instruments will pay the shipping costs of returning to the owner parts which are covered by warranty National Instruments believes that the information in this document is accurate The document has been carefully reviewed for technical accuracy In the event that technical or typographical errors exist National Instruments reserves the right to make changes to subsequent editions of this document without prior notice to holders of this edition The reader should consult National Instruments if errors are suspected In no event shall National Instruments be liable for any damages arising out of or related to this document or the information contained in it EXCEPT AS SPECIFIED HEREIN NATIONAL INSTRUMENTS MAKES NO WARRANTIES EXPRESS OR IMPLIED AND SPECIFICALLY DISCLAIMS ANY WARRANTY OF MERCHANTABILITY OR FIT
399. to have inverting polarity interrupt request industry standard architecture the derivative of acceleration change of acceleration per unit time measured in units of counts steps s3 kilo the standard metric prefix for 1 000 or 103 used with units of measure such as volts hertz and meters kilo the prefix for 1 024 or 2 used with byte in quantifying data or computer memory www natinst com L latching LIFO limit switch end of travel input loop tuning bode plot MCS microstep modulo position MustOff MustOn noise National Instruments Corporation G 7 Glossary a signal that maintains its value while in a given state as opposed to a signal that momentarily pulses when entering or exiting a state last in first out properly designed motion control systems have sensors called limit switches that alert the control electronics that physical end of travel is being approached and that the motion should stop A graphical display of the measured or calculated system gain and phase margin versus frequency of a closed loop system for a given range of input frequency The Tune PID bode plot VI function provides an interactive display of the steady state performance of the closed loop control system taking into account actual system characteristics meters Move Complete Status Microstepping mode of a stepper motor subdividing the basic motor step by proportioning the current in the wi
400. tor spaces to check It is only required when multiple axes or vector spaces are selected with the axisOrVectorSpace parameter Otherwise this parameter is ignored When checking multiple axes axisOrVectorSpace 0 D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO 0 0 0 0 0 0 0 0 0 Axis Axis Axis Axis Axis Axis 0 6 5 4 3 2 1 FlexMotion Software Reference Manual 6 4 www natinst com Chapter 6 Trajectory Control Functions flex_check_move_complete_status For D1 through D6 1 Move must be complete on specified axis 0 Move can be either complete or not complete on specified axis don t care When checking multiple vector spaces axisOrVectorSpace 0x10 pis D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO For D1 through D3 1 Move must be complete on specified vector space 0 Move can be either complete or not complete on specified vector space don t care To check for move complete on a single axis or vector space set the axisOrVectorSpace selector to the desired axis or vector space The axisOr VSMap bitmap is ignored To check for move complete on multiple axes the axisOrVectorSpace selector is set to 0 zero and the axisOr VSMap bitmap defines the axes to be checked They must all be move complete for the moveComplete output to be true Similarly to check for move complete on multiple v
401. tors include return data to the host OxFF return data to a variable 0x01 through 0x78 and don t return data 0 3 Note The suffix _rtn on the function indicates that the data should be returned to the host When this calling convention is used no returnVector is required targetPosition is the destination position of the current motion trajectory in counts servo axes or steps stepper axes National Instruments Corporation 6 99 FlexMotion Software Reference Manual Chapter 6 Trajectory Control Functions flex_read_target_pos and flex_read_target_pos_rtn Using This Function The Read Target Position function returns the destination position of the motion trajectory currently in process If the axis is stopped it returns the target position of last trajectory completed This function differs from the Reset Position function in that it returns the commanded target destination position rather than the actual feedback position When blending moves this function will return a value that is different from the last loaded target position when the blend has not occurred yet You can use this function to monitor the state of an onboard program as it sequences moves It returns the target position of the move segment in process FlexMotion Software Reference Manual 6 100 www natinst com Chapter 6 Trajectory Control Functions flex_read_trajectory_data and flex_read_trajectory_data_rtn flex_read_trajectory_data and flex_
402. troller whether to take the function data from the host computer or from an onboard general purpose variable An input vector of 0xFF for Visual Basic users sHFF will tell the FlexMotion controller to get the data form the host computer in other words from the data parameters in the function call For more information on input vectors refer to the Input and Return Vectors section of Chapter 4 Software Overview FlexMotion Software Reference Manual 3 10 www natinst com Software Overview This chapter provides an overview of the FlexMotion API and describes the types of functions you use to configure initialize control and read back data and status from the FlexMotion controller This chapter also includes discussions on advanced features and programming techniques that describe the power and flexibility of the FlexMotion architecture API Functional Organization The FlexMotion API consists of over 120 functions organized into nine functional groups e Axis amp Resource Configuration e Trajectory Control includes Arc Gearing and Advanced Trajectory functions e Start amp Stop Motion e Motion I O includes Breakpoint and High Speed Capture functions e Find Home amp Index e Analog amp Digital I O e Error amp Utility e Onboard Programming includes Object Management and Data Operations functions e Advanced Each group contains functions that are closely related to each other and some groups a
403. ts steps 230 counts steps Home polarity Inverting Ox7E Inhibit mustOn All on 0x7E Inhibit mustOff 0 Forward limit polarity Inverting Ox7E Reverse limit polarity Inverting Ox7E Breakpoint modulus None 0 Breakpoint position 0 Breakpoint mustOn 0 Breakpoint mustOff All off 0x7E National Instruments Corporation C 3 FlexMotion Software Reference Manual Appendix C Default Parameters Table C 1 Default Parameters Continued Parameter Factory Default Enable high speed capture All disabled 0 High speed capture polarity Noninverting 0 High speed capture source Trigger input on I O connector Analog amp Digital I O Parameters ADC enable None 0 ADC range 10to 10 V Encoder enable None 0 Maximum encoder frequency 1 6 MHz 7344 only T O port direction 1 and 2 input 3 output FlexMotion 6C All input 7344 T O port mustOn 0 T O port mustOff All off OxFF T O port polarity Inverting OxFF RTSI port 7344 only All input no RTSI lines driven General purpose variables All 0 Interrupt event mask All events masked off 0 FlexMotion Software Reference Manual C 4 www natinst com Onboard Variables Input and Return Vectors This appendix gives additional information on how to use input and return vectors in conjunction with onboard variables Table D 1 list functions with mor
404. u32 size Size of object in words REGISTRY Object type tells you the type of object stored Presently only objects of program type are supported The start address and object size are returned in hex Size is in number or 16 bit words National Instruments Corporation 12 29 FlexMotion Software Reference Manual Chapter 12 Onboard Programming Functions flex_read_registry_rtn Using This Function The Read Object Registry function returns a registry record for an object from the Object Registry The Object Registry contains information on all objects stored in memory You can store up to 32 objects in RAM and or ROM Each time an object is stored a new record is created to keep track of it Registry records are referenced by index and each call to this function returns information on the referenced object The index is not the same as the object number You can use up to 255 unique object numbers 0x01 through OxFF but only 32 objects can be stored in memory at one time FlexMotion Software Reference Manual 12 30 www natinst com Chapter 12 Onboard Programming Functions Data Operations Functions Data Operations Functions This subsection contains detailed descriptions of the available math functions on general purpose variables Variables can be loaded added multiplied ANDed and so on before being used as data in a motion control function General purpose variables are 32 bits long and can be used either signed
405. ual ADC value In contrast the Read Position function executed on the owner axis returns an ADC value that has been offset by a reset value stored when the Reset Position function was executed ADC channels are never internally reset so their DC values are preserved On the FlexMotion 6C controllers all 8 ADC inputs are on the 100 pin Motion I O connector On the 7344 controllers ADC inputs through 4 are on the 68 pin Motion I O connector and the remaining four inputs are wired as follows ADC Input Description 5 Cleaned 5 V PC supply Not connected N Analog reference co Analog ground FlexMotion Software Reference Manual 10 14 www natinst com Chapter 10 Analog amp Digital I O Functions flex_read_encoder and flex_read_encoder_rtn flex_read_encoder and flex_read_encoder_rtn Read Encoder Position Format status flex_read_encoder boardID axisOrEncoder return Vector status flex_read_encoder_rtn boardID axisOrEncoder encoderCounts Purpose Reads the position of an encoder Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer axisOrEncoder u8 axis or encoder to be read returnVector u8 destination for the return data Output Name Type Description encoderCounts 132 encoder position in quadrature counts Parameter Discussion axisOrEncoder is the axis or encoder to be read returnVector i
406. unctions flex_read_trajectory_data and flex_read_trajectory_data_rtn Using This Function The Read Trajectory Data function is used to read back a single sample of acquired data from the onboard sample buffer The number of samples the time between samples and the size of each sample is set when you execute the Acquire Trajectory Data function The sample buffer operates first in first out FIFO so multiple calls to this function return samples in their correct time sequence While it is possible to read the sample buffer while samples are still being acquired you must wait enough time between calls to the Read Trajectory Data function to avoid emptying the buffer Note Attempting to read an empty sample buffer will generate an error For information about errors and error handling refer to Chapter 4 Software Overview The Acquire Trajectory Data and Read Trajectory Data functions are used to acquire and read back time sampled position and velocity data for analysis and display These functions implement a digital oscilloscope that is useful during system setup PID tuning and general motion with data acquisition synchronization Example The Acquire Trajectory Data function is executed with axes 1 2 and 5 selected Each call to the Read Trajectory Data function returns one sample with an array size of six and the following data in the array returnData Axis 1 position Axis velocity Axis 2 position Axis 2 velocity
407. upported by this type of controller or the controller received an incomplete command packet and cannot execute the function NIMC_noReturnDataBufferError No data in the Return Data Buffer The kernel driver returns an error if it runs out of time waiting for the controller to return data to the Return Data Buffer For FlexMotion controllers this error can also be returned if the power up state of the controller has not been cleared NIMC_halfReturnDataBufferError Partial readback packet The data returned by the controller is incomplete The kernel driver timed out after getting partial data NIMC_boardFailureError Most likely your controller is not installed or configured properly If this error persists when you know your controller is installed and configured properly it indicates an internal hardware failure FlexMotion Software Reference Manual A 2 www natinst com Appendix A Error Codes Table A 1 Error Codes Summary Continued Error Code Symbolic Name Description 6 NIMC_badResourceIDOrAxisError For ValueMotion an invalid axis number was used For FlexMotion an invalid axis number or other resource ID Vector Space Encoder I O Port and so on was used 7 NIMC_CIPBitError A previous function is currently being executed so the controller cannot accept this function until the previous function has completed If this problem persists try putting a delay between
408. use this function to directly measure the counts per revolution and steps per revolution for the axis These values must be loaded before for subsequent closed loop operation Refer to the Load Counts Steps per Revolution function for more information You can also use this function to return a finer reading of position in cases where the encoder resolution greatly exceeds the step resolution of the closed loop stepper axis FlexMotion Software Reference Manual 10 16 www natinst com flex_read_port and flex_read_port_rtn Chapter 10 Analog amp Digital 1 0 Functions flex_read_port and flex_read_port_rtn Read 1 0 Port Format status flex_read_port boardID port returnVector status flex_read_port_rtn boardID port portData Purpose Reads the logical state of the bits in an I O port Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer port u8 general purpose I O port to be read returnVector u8 destination for the return data Output Name Type Description portData ul6 bitmap of the logical state of the I O port Parameter Discussion port is the general purpose I O port 1 2 3 or 4 or RTSI software port 5 to be read return Vector indicates the desired destination for the return data generated by this function Available return Vectors include return data to the host OxFF return data to a variable 0x01 through 0x78 and
409. used in building FlexMotion applications and explains the basics of building applications using the following tools e LabWindows CVI e Borland C C e Microsoft Visual C C e Microsoft Visual Basic If you are not using one of the tools listed consult your development tool reference manual for details on creating applications that call DLLs The FlexMotion DLL FlexMotion32 d11 is used by FlexMotion applications under all versions of Windows If you are programming in C or C you must link in the appropriate import library so that you can call the FlexMotion DLL In Windows 2000 NT 98 95 the import libraries are different for Microsoft and Borland C C The import libraries contain information about the FlexMotion DLL exported functions FlexMotion is packaged with function prototype files for different Windows development tools For C C development the FlexMotion header file flexmotn h is provided For Visual Basic development a BAS module flexmotn bas is provided If you are not using any of these development tools you may need to create your own function prototype file based on the files provided with the FlexMotion software National Instruments Corporation 2 1 FlexMotion Software Reference Manual Chapter 2 Building Applications with the FlexMotion Software Library Creating a 32 Bit Windows Application Under Windows 2000 NT 98 95 FlexMotion applications should call the FlexMotion32 d11 The FlexMotion D
410. used to clamp the contribution of the integral term in the PID loop The scaled integration sum is compared to the integration limit and the lesser of the two values is multiplied by Ki to produce the integral term of the control output This limiting function is indicated with LIMIT in the following integral term output equation Vout integral 20 V 2 x Ki x LIMIT Integration Sum 256 Ilim You can use Ilim to limit excessive restoring forces and to minimize the adverse effects that integral compensation has during acceleration and deceleration National Instruments Corporation 5 23 FlexMotion Software Reference Manual Chapter 5 3 Axis amp Resource Configuration Functions flex_load_single_pid_parameter Note Ilim has no effect when Ki is equal to zero Derivative Gain The derivative gain Kd determines the contribution of restoring force proportional to the rate of change derivative of position error This force acts much like viscous damping in a damped spring and mass mechanical system for example shock absorber The PID loop computes the derivative of position error every derivative sample period a multiple of PID sample period see the following section Derivative Sample Period This derivative term is multiplied by Kd every PID sample period to produce the derivative component of 16 bit DAC command output The formula for calculating the derivative contribution is as follows Vout derivative 2
411. ution of your measurements by selecting an appropriate range from the previous list For example if your input signal ranges from 3 to 3 V and you select the 5 to 5 V range the 4 096 discreet values for the ADC will be 2 44 mV apart instead of the 4 88 mV apart when using the 10 to 10 V range For more information refer to the Read ADC and Enable ADCs functions FlexMotion Software Reference Manual 10 24 www natinst com Chapter 10 Analog amp Digital I O Functions flex_set_port_direction flex_set_port_direction Set 1 0 Port Direction Format status flex_set_port_direction boardID port directionMap Purpose Sets the direction of a general purpose I O port as input or output Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer port u8 general purpose I O port to be controlled directionMap ul6 port direction control Parameter Discussion port is the general purpose I O port 1 2 3 or 4 to be controlled ligi Note On FlexMotion 6C controllers which have three ports 1 2 and 3 I O port 3 is an output only port and cannot be set to input directionMap is the bitmap of directions for the bits in the I O port D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO 0 0 0 0 0 0 0 0 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 For DO through D7 1 Input default
412. utomation Explorer axis u8 axis to be controlled threshold f64 velocity threshold in RPM inputVector u8 source of the data for this function Parameter Discussion axis is the axis to be controlled threshold is the velocity threshold value in RPM expressed as a double precision floating point number The RPM range depends upon the motor counts or steps per revolution and the trajectory update rate and is always a positive number Refer to the Trajectory Parameters section in Chapter 4 Software Overview for more information on velocity and acceleration units and their dependency on trajectory update rate inputVector indicates the source of the data for this function Available inputVectors include immediate OxFF or variable 0x01 through 0x78 Using This Function The Load Velocity Threshold function establishes a velocity threshold in RPM for the specified axis which can then be monitored with the Read Trajectory Status function The velocity threshold status is True when the absolute value of filtered axis velocity is above the threshold and False when the velocity drops below the threshold Velocity threshold is a status and does not have to be enabled or disabled Loading amaximum value effectively disables the feature because the status will always be off Increasing the FlexMotion Software Reference Manual 6 80 www natinst com Chapter 6 Trajectory Control Functions flex_load_rpm_thresh velocity filter time const
413. values in RPS s are converted to an internal 16 16 fixed point format in units of counts sample or steps sample before being used by the trajectory generator You can calculate the minimum acceleration increment in RPS s with the following formula RPS s Amin x 1 Ts x 1 R where Amin 1 65 536 counts sample or steps sample Ts sample period in seconds per sample and R counts or steps per revolution For a typical servo axis with 2 000 counts per revolution operating at the 250 ms update rate the minimum RPS s increment is calculated as follows 1 65 536 x 4 000 7 2 000 0 122070 RPS s RPS s values stored in onboard variables are in double precision IEEE format f64 For information about the number of variables required to hold an RPS s value refer to Appendix D Onboard Variables Input and Return Vectors Velocity Override in Percent While the Load Velocity Override function takes a single precision floating point f32 data value from 0 to 150 velocity override is internally implemented as a velocity scale factor of 0 to 384 with an implicit fixed denominator of 256 This is done for the sake of calculation speed the denominator is a simple shift right by eight bits The resolution for velocity override is therefore limited to 1 256 or about 0 39 3 Note The conversion from floating point to fixed point is performed on the host computer not on the FlexMotion controller To load velocity override from a
414. variable 0x01 through 0x78 Using This Function The Load S Curve Time function smooths the acceleration and deceleration portions of a motion profile resulting in less abrupt transitions from start motion to acceleration acceleration to constant velocity constant velocity to deceleration and deceleration to stop Using s curve acceleration limits the jerk in a motion control system Officially jerk is defined as the derivative of acceleration change of acceleration per unit time and is measured in units of counts steps s This function however allows you to load s curve time in update sample periods rather than have to deal with the obscure units of jerk FlexMotion Software Reference Manual 6 82 www natinst com Chapter 6 Trajectory Control Functions flex_load_scurve_time With the default s curve time of one 1 sample period there is virtually no affect on the motion profile and the standard trapezoidal trajectory is executed As s curve time increases the smoothing affect on the acceleration and deceleration portions of the motion profile increase as shown in Figure 6 7 Large values of s curve time can override the programmed values of acceleration and deceleration by sufficiently smoothing the profile such that the acceleration and deceleration slopes are never reached Velocity S curve Time 0 Time Velocity f S curve Time Increasing 7 Time Figure 6 7 Effects of S Curve Acceleration on a Trapezoidal Tra
415. variables 4 12 single and double buffered parameters 4 10 to 4 11 FlexMotion Software Reference Manual l 8 functions advanced functions 13 1 to 13 18 analog amp digital I O functions 10 1 to 10 31 API functional organization 4 1 to 4 2 axis amp resource configuration functions 5 1 to 5 31 default parameters table C 1 to C 4 analog amp digital I O parameters C 4 axis amp resource configuration parameters C 1 to C 2 motion I O parameters C 3 to C 4 trajectory parameters C 2 to C 3 error amp utility functions 11 1 to 11 12 Find Home amp Find Index functions 9 1 to 9 8 functions with more than one data parameter table D 1 to D 2 motion I O functions 8 1 to 8 42 onboard programming functions 12 1 to 12 44 return status 3 3 start amp stop motion functions 7 1 to 7 11 summary table B 1 to B 7 trajectory control functions 6 1 to 6 102 ValueMotion to FlexMotion function cross reference table B 7 to B 10 G gearing electronic 4 16 gearing functions 6 63 to 6 71 flex_config_gear_master 6 64 to 6 65 flex_enable_gearing 6 66 to 6 67 flex_enable_gearing single_axis 6 68 to 6 69 flex_load_gear_ratio 6 70 to 6 71 summary table B 3 general purpose I O ports purpose and use 4 8 resource IDs table 4 8 www natinst com H handshaking in host FlexMotion board communication 4 21 high speed capture functions 8 33 to 8 42 flex_enable_hs_caps 8 34 to 8 35 flex_read_cap_pos
416. vars 12 44 summary table B 6 to B 7 flex_begin_store 12 2 to 12 3 flex_end_store 12 4 flex_insert_program_label 12 5 flex_jump_label_on_condition 12 6 to 12 10 flex_load_delay 12 11 flex_pause_prog 12 12 flex_read_program_status 12 13 to 12 14 flex_run_prog 12 15 flex_set_status_momo 12 16 to 12 17 flex_stop_prog 12 18 flex_wait_on_condition 12 19 to 12 23 object management functions 12 24 to 12 30 flex_load_description 12 25 flex_object_mem_manage 12 26 to 12 27 flex_read_description_rtn 12 28 flex_read_registry_rtn 12 29 to 12 30 summary table B 6 summary table B 6 FlexMotion Software Reference Manual Index onboard variables functions with more than one data parameter table D 1 to D 2 overview 4 12 online problem solving and diagnostic resources E 1 operation mode setting See flex_set_op_mode function P packets in host FlexMotion board communication 4 21 parameters default parameters table C 1 to C 4 analog amp digital I O parameters C 4 axis amp resource configuration parameters C 1 to C 2 motion I O parameters C 3 to C 4 trajectory parameters C 2 to C 3 function types and parameters 4 10 to 4 12 bitmapped versus per resource functions 4 10 input and return vectors 4 11 onboard variables 4 12 single and double buffered parameters 4 10 to 4 11 functions with more than one data parameter table D 1 to D 2 trajectory parameters 4 17 to 4 20 per
417. ve D5 Home Input Home 1 Home input active 0 Home input not active D6 Software Limit S W Limit 1 Forward or reverse software limit reached 0 Neither software limit reached D7 Reserved D8 Velocity Threshold VT 1 Velocity above threshold 0 Velocity below threshold National Instruments Corporation 6 21 FlexMotion Software Reference Manual Chapter 6 Trajectory Control Functions flex_read_axis_status and flex_read_axis_status_rtn D9 Breakpoint BP 1 Breakpoint occurred 0 Breakpoint pending or disabled D10 Home Found HF 1 Home found during last Find Home 0 Find Home sequence in process or home not found D11 Index Found IF 1 Encoder Index found during last Find Index 0 Find Index sequence in process or index not found D12 High Speed Capture HSC 1 High speed capture occurred 0 High speed capture pending D13 Direction Dir 1 Reverse 0 Forward D14 Blend Complete BC 1 Blend complete 0 Blend pending D15 Move Complete MC 1 Move complete 0 Move not complete Using This Function The Read per Axis Status function returns the trajectory and motion I O status for the specified axis It also returns the success or failure status of the most recent Find Home and Find Index sequences Sy Note You can also read individual item status in a multi axis format with FlexMotion functions like Read Limit Status Read Trajectory Status and so on FlexM
418. ve an object to ROM call this function with operation NIMC_OBJECT_SAVE The object is copied to ROM and exists in both RAM and ROM until the next power cycle When that occurs the RAM image is erased and the ROM version persists FlexMotion Software Reference Manual 12 26 www natinst com Chapter 12 Onboard Programming Functions flex_object_mem_manage To remove an object from ROM call this function with operation NIMC_OBJECT_DELETE The object is deleted from both ROM and RAM if it still exists in RAM Once you have saved an object to ROM you can free up its space in RAM by calling this function with operation NIMC_OBJECT_FREE This has no effect on the copy in ROM but deletes the image in RAM making more memory available for storing additional programs or other objects My Note You cannot save or delete a program while any other program is running Also you cannot free a program while it is running In addition you cannot save or delete a program when any motor is moving Attempting to execute this function in these cases generates an error Saving or deleting a program takes 2 to 4 seconds The FlexMotion 6C controller has 32 KB of RAM plus 32 KB of ROM for program and object storage You can run programs from either RAM or ROM but you cannot split programs between the two With an average command size of 10 bytes a single program can be as large as 3 200 commands Conversely the FlexMotion 6C controller can simultaneously
419. ve with the Enable High Speed Position Capture function You can also use a high speed input as a general purpose input and read its status with the Read High Speed Capture Status function FlexMotion Software Reference Manual 8 42 www natinst com Find Home amp Index Functions This chapter contains detailed descriptions of the functions used to initialize your motion system and establish a repeatable reference position The functions are arranged alphabetically by function name Typical closed loop motion systems use incremental feedback to keep track of position At power up this position is meaningless until a zero reference position is established Open loop stepper systems must also be initialized at power up FlexMotion provides two built in programs Find Home and Find Index to accomplish these tasks These functions perform search sequences to find and stop on a specific edge of the home input and then find the next instance of the encoder index In this way a repeatable reference position that is accurate to one encoder count is established As a quick reference a summary of the entire FlexMotion function API is in Appendix B FlexMotion Functions National Instruments Corporation 9 1 FlexMotion Software Reference Manual Chapter 9 Find Home amp Index Functions flex_find_home flex_find_ home Find Home Format status flex_find_home board ID axis directionMap Purpose Executes a searc
420. xMotion Functions Function Name Description Word Count Uses Vectors Command ID flex_read_var Read Variable 4 Yes 358 flex_read_var_rtn flex_sub_vars Subtract Variables 4 Yes 348 flex_xor_vars Exclusive OR Variables 4 Yes 354 Advanced Functions flex_clear_pu_status Clear Power Up Status 3 No 258 flex_communicate Communicate variable Yes any flex_enable_1394_watchdog Enable 1394 Watchdog N A No 255 flex_enable_auto_start Enable Auto Start 4 No 404 flex_enable_shutdown Enable Shutdown 3 No 405 flex_flush_rdb Flush Return Data Buffer N A flex_read_csr_rtn Read Communication N A Status flex_reset_defaults Reset Default Parameters 3 No 403 flex_save_defaults Save Default Parameters 3 No 283 flex_set_irq_mask Set Interrupt Event Mask 4 No 269 To aid in converting a ValueMotion application to FlexMotion Table B 2 lists each function in the ValueMotion API and gives the nearest FlexMotion function Refer to the individual functions in both the ValueMotion and FlexMotion function references for detailed information on the functional and syntactic differences Table B 2 ValueMotion to FlexMotion Cross Reference ValueMotion Function Name FlexMotion Function Name Descriptive Name acquire_samples flex_acquire_trajectory_data Acquire Trajectory Data begin_prestore flex_begin_store Begin Program Storage communicate flex_communicate Communicate
421. x_load_spherical_arc 6 60 to 6 62 axis amp resource configuration functions flex_load_counts_steps_rev 5 17 to 5 18 flex_load_pid_parameters 5 19 to 5 20 flex_load_single_pid_parameter 5 21 to 5 27 flex_load_vel_tc_rs 5 28 to 5 29 breakpoint functions flex_load_bp_modulus 8 25 to 8 26 flex_load_pos_bp 8 27 to 8 28 data operations functions flex_load_var 12 35 gearing functions flex_load_gear_ratio 6 70 to 6 71 motion I O functions flex_load_sw_lim_pos 8 9 to 8 10 object management functions flex_load_description 12 25 FlexMotion Software Reference Manual Index onboard programming functions flex_load_delay 12 11 trajectory control functions flex_load_acceleration 6 6 to 6 7 flex_load_follow_err 6 8 to 6 9 flex_load_rpm 6 10 to 6 11 flex_load_rpsps 6 12 to 6 13 flex_load_target_pos 6 14 to 6 15 flex_load_velocity 6 16 to 6 17 flex_load_vs_pos 6 18 to 6 19 manual See documentation Measurement amp Automation Explorer 1 1 Microsoft C C application creating 2 2 to 2 3 See also C C applications modal and non modal errors 4 22 to 4 24 communication versus individual function entry points 4 23 error message stack 4 23 onboard programs 4 24 MOMO protocol functions See MustOn MustOff MOMO protocol functions motion boards flex_get_motion_board_info function 11 6 to 11 8 flex_get_motion_board_name function 11 9 to 11 10 installing FlexMotion controller 1 2 motion I O co
422. y In contrast a halt stop NIMC_HALT_STOP is immediate and abrupt The target position is set to the position of the axis at the moment the function is executed On servo axes full torque is applied to stop the motor s as quickly as possible On stepper axes the step pulses are immediately ceased In both cases FlexMotion attempts to stop the motor s with a near infinite rate of deceleration There is no trajectory profile and motion is not controlled by previously loaded deceleration and s curve parameters On servo axes akill stop NIMC_KILL_STOP disables the control loop and zeros the output DAC allowing frictional forces alone to stop the motion On stepper axes a kill stop immediately ceases the stepper pulse generation On both axis types there is no trajectory profile during a kill stop If enabled the inhibit output is activated to inhibit disable the servo amplifier or stepper driver You can enable the inhibit outputs and set their polarity as active high noninverting or active low inverting with the Configure Inhibit Outputs function Warning When an axis is killed the motor is allowed to freewheel and could possibly move if external forces are acting on it If the axis moves into an enabled limit switch the axis will be energized and held in position If you do not want the axis to become energized under any circumstances you should disable the axis after killing it The Stop Motion function may or may not affect t
423. y the returnVector returnVector value variablel value variable2 value The result can be returned to a new variable or one of the two input variables returned to the host computer or thrown away In all cases the condition codes are set according to the resulting value GREATER THAN LESS THAN or EQUAL to zero B Note This function does an integer divide and the remainder is lost FlexMotion Software Reference Manual 12 34 www natinst com Chapter 12 Onboard Programming Functions flex_load_var flex_load_var Load Constant to Variable Format status flex_load_var boardID value variable1 Purpose Loads a constant value into a variable Parameters Input Name Type Description boardID u8 assigned by Measurement amp Automation Explorer value 132 value to be loaded into the variable variablel u8 variable to be loaded Parameter Discussion value is the value to be loaded into the variable variable1 is the variable to be loaded Valid variables are 0x01 through 0x78 Using This Function The Load Constant to Variable function loads a constant value into the selected variable variable1 value constant value The condition codes are set according to the loaded value GREATER THAN LESS THAN or EQUAL to zero National Instruments Corporation 12 35 FlexMotion Software Reference Manual Chapter 12 Onboard Programming Functions flex_Ishift_var flex_Ishift_var Log
424. you should execute for system level and per axis initialization in the order you should call them This recommended list covers the minimum areas of initialization for basic motion control You can add additional functions to this list for enhanced system configuration requirements System Configuration 1 Clear Power Up Status always required 2 Configure Axis Resources 3 Enable Axes Motion 1 0 Configuration Configure Inhibit Outputs Set Limit Input Polarity Set Home Input Polarity Enable Limits ean om E Enable Home Inputs Per Axis Configuration 9 Configure Step Mode amp Polarity stepper axes only 10 Load Counts Steps per Revolution closed loop axes only 11 Load All PID Parameters servo axes only 12 Set Stepper Loop Mode stepper axes only Initialize Trajectory Parameters Per Axis 13 Set Operation Mode 14 Load Following Error closed loop axes only 15 Load Velocity 16 Load Acceleration Deceleration Establish a Position Reference Per Axis 17 Find Home requires configured and enabled limit and home inputs 18 Find Index closed loop axes only 19 Reset Position National Instruments Corporation 4 13 FlexMotion Software Reference Manual Chapter 4 Software Overview At power up all axes are automatically stopped or killed when the axis circuits are disabled when the motor is off You must always execute a Clear Power Up Status function before attempting to initialize or control

FlexMotion Software Reference Manual

Contents

Download Pdf Manuals

Related Search

Related Contents